added outlined option for box

added code style skill for codex/claude

.agents/skills/code-style/SKILL.md

@@ -0,0 +1,92 @@
+---
+name: code-style
+description: omath project C++ code style derived from .idea/codeStyles/Project.xml and .clang-format. Use when writing, editing, or reviewing C++ code in this repo so formatting and naming match the rest of the codebase.
+---
+
+# omath Code Style
+
+Authoritative sources: `.clang-format` (formatting) and `.idea/codeStyles/Project.xml` (Rider/CLion naming + formatting). When in doubt, run clang-format — it is the enforced formatter (`clangFormatSettings.ENABLED = true`).
+
+## Formatting
+
+Base style: LLVM with Stroustrup-style braces.
+
+- **Indent**: 4 spaces, no tabs. Tab width 4. Continuation indent 8.
+- **Column limit**: 120.
+- **Namespace indentation**: `All` — indent contents of every namespace.
+- **Access modifier offset**: -4 (access specifiers sit at the class column; members indent one level deeper).
+- **Pointer/reference alignment**: Left, with a space *before* `*` / `&` in declarations: `const Vector3& other`, `Type* ptr`.
+- **Include blocks**: Merge. Sort using-declarations.
+- **Keep blank lines**: max 2 in code and declarations. No blank line at the start of a block.
+- **Align trailing comments**: false.
+- **Break before binary operators**: non-assignment.
+
+### Braces (Allman / next-line for everything)
+
+Opening brace on its own line after:
+class, struct, union, enum, namespace, function, control statement (`if`/`for`/`while`/`switch`), `case` label, lambda body, `catch`, `else`, `while` (of do-while), extern block.
+
+Empty functions, records, and namespaces still split (`SplitEmptyFunction/Record/Namespace: true`).
+
+### Short-form rules (all disabled)
+
+Never collapse onto one line: blocks, functions, lambdas, `if` statements, loops.
+
+### Templates
+
+`template<class T>` goes on its own line, declaration follows on the next line:
+
+```cpp
+template<class Type>
+requires std::is_arithmetic_v<Type>
+class Vector3 : public Vector2<Type>
+{
+    ...
+};
+```
+
+No space after `template` keyword. `requires` clause is not extra-indented.
+
+### Spaces
+
+- After control-statement keywords (`if (`, `for (`, `while (`).
+- **Not** before `(` in function declarations/definitions/calls.
+- After C-style cast: `(int) x`.
+- Around range-based-for colon: `for (auto& x : xs)`.
+- After commas in template args/params.
+- Inside empty parens/braces/templates: no.
+
+## Naming
+
+| Kind | Style | Example |
+|---|---|---|
+| Namespaces | `snake_case` | `omath::pathfinding`, `omath::primitives` |
+| Types (class, struct, enum, union, concept, type alias, typedef, template parameter) | `PascalCase` | `Vector3`, `NavigationMesh`, `Astar`, `ContainedType` |
+| Functions (free + member) | `snake_case` | `find_path`, `distance_to_sqr`, `create_box` |
+| Fields (class/struct/union members) | `snake_case` | `dir_forward`, `nav_mesh` |
+| Variables (global, local, lambda) | `snake_case` | `length_value`, `side_size` |
+| Parameters | `snake_case` | `dir_right`, `v_other` |
+| Macros | `UPPER_SNAKE_CASE` | `OMATH_FOO_BAR` |
+| Enumerators | `UPPER_SNAKE_CASE` | `IMPOSSIBLE_BETWEEN_ANGLE`, `WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS` |
+
+Enum types themselves are PascalCase (`enum class Vector3Error`, `enum class Error`); their members are UPPER_SNAKE_CASE.
+
+## Files
+
+- Headers: `.hpp`, sources: `.cpp`. Both use `snake_case` filenames (e.g. `vector3.hpp`, `proj_pred_engine_avx2.hpp`).
+- C headers: `.h`, sources: `.c` (no enforced filename style).
+- CUDA: `.cu` / `.cuh`.
+- C++ modules: `.ixx`, `.mxx`, `.cppm`, `.ccm`, `.cxxm`, `.c++m`.
+- Header guard: `#pragma once` only — no `#ifndef` guards.
+- File header comment is optional and follows the form `// Created by <name> on <date>`.
+
+## Idioms used throughout the codebase
+
+- Prefer `[[nodiscard]]`, `noexcept`, and `constexpr` on math / value-type methods.
+- `namespace omath` is the root; sub-features live in nested namespaces (`omath::collision`, `omath::engines::source_engine`, etc.).
+- Closing namespace brace gets a trailing comment: `} // namespace omath::primitives`.
+- Use `std::expected<T, E>` with an `enum class …Error` for fallible operations (see `Vector3Error`, `projection::Error`).
+
+## When editing
+
+Match the surrounding style exactly. If a region disagrees with this guide, prefer the existing local style — don't reformat unrelated code (per the project's CLAUDE.md "Surgical Changes" rule). Run clang-format on touched files before committing.

.agents/skills/karpathy-guidelines/SKILL.md

@@ -0,0 +1,67 @@
+---
+name: karpathy-guidelines
+description: Behavioral guidelines to reduce common LLM coding mistakes. Use when writing, reviewing, or refactoring code to avoid overcomplication, make surgical changes, surface assumptions, and define verifiable success criteria.
+license: MIT
+---
+
+# Karpathy Guidelines
+
+Behavioral guidelines to reduce common LLM coding mistakes, derived from [Andrej Karpathy's observations](https://x.com/karpathy/status/2015883857489522876) on LLM coding pitfalls.
+
+**Tradeoff:** These guidelines bias toward caution over speed. For trivial tasks, use judgment.
+
+## 1. Think Before Coding
+
+**Don't assume. Don't hide confusion. Surface tradeoffs.**
+
+Before implementing:
+- State your assumptions explicitly. If uncertain, ask.
+- If multiple interpretations exist, present them - don't pick silently.
+- If a simpler approach exists, say so. Push back when warranted.
+- If something is unclear, stop. Name what's confusing. Ask.
+
+## 2. Simplicity First
+
+**Minimum code that solves the problem. Nothing speculative.**
+
+- No features beyond what was asked.
+- No abstractions for single-use code.
+- No "flexibility" or "configurability" that wasn't requested.
+- No error handling for impossible scenarios.
+- If you write 200 lines and it could be 50, rewrite it.
+
+Ask yourself: "Would a senior engineer say this is overcomplicated?" If yes, simplify.
+
+## 3. Surgical Changes
+
+**Touch only what you must. Clean up only your own mess.**
+
+When editing existing code:
+- Don't "improve" adjacent code, comments, or formatting.
+- Don't refactor things that aren't broken.
+- Match existing style, even if you'd do it differently.
+- If you notice unrelated dead code, mention it - don't delete it.
+
+When your changes create orphans:
+- Remove imports/variables/functions that YOUR changes made unused.
+- Don't remove pre-existing dead code unless asked.
+
+The test: Every changed line should trace directly to the user's request.
+
+## 4. Goal-Driven Execution
+
+**Define success criteria. Loop until verified.**
+
+Transform tasks into verifiable goals:
+- "Add validation" → "Write tests for invalid inputs, then make them pass"
+- "Fix the bug" → "Write a test that reproduces it, then make it pass"
+- "Refactor X" → "Ensure tests pass before and after"
+
+For multi-step tasks, state a brief plan:
+```
+1. [Step] → verify: [check]
+2. [Step] → verify: [check]
+3. [Step] → verify: [check]
+```
+
+Strong success criteria let you loop independently. Weak criteria ("make it work") require constant clarification.

.claude/skills/code-style/SKILL.md

@@ -0,0 +1,92 @@
+---
+name: code-style
+description: omath project C++ code style derived from .idea/codeStyles/Project.xml and .clang-format. Use when writing, editing, or reviewing C++ code in this repo so formatting and naming match the rest of the codebase.
+---
+
+# omath Code Style
+
+Authoritative sources: `.clang-format` (formatting) and `.idea/codeStyles/Project.xml` (Rider/CLion naming + formatting). When in doubt, run clang-format — it is the enforced formatter (`clangFormatSettings.ENABLED = true`).
+
+## Formatting
+
+Base style: LLVM with Stroustrup-style braces.
+
+- **Indent**: 4 spaces, no tabs. Tab width 4. Continuation indent 8.
+- **Column limit**: 120.
+- **Namespace indentation**: `All` — indent contents of every namespace.
+- **Access modifier offset**: -4 (access specifiers sit at the class column; members indent one level deeper).
+- **Pointer/reference alignment**: Left, with a space *before* `*` / `&` in declarations: `const Vector3& other`, `Type* ptr`.
+- **Include blocks**: Merge. Sort using-declarations.
+- **Keep blank lines**: max 2 in code and declarations. No blank line at the start of a block.
+- **Align trailing comments**: false.
+- **Break before binary operators**: non-assignment.
+
+### Braces (Allman / next-line for everything)
+
+Opening brace on its own line after:
+class, struct, union, enum, namespace, function, control statement (`if`/`for`/`while`/`switch`), `case` label, lambda body, `catch`, `else`, `while` (of do-while), extern block.
+
+Empty functions, records, and namespaces still split (`SplitEmptyFunction/Record/Namespace: true`).
+
+### Short-form rules (all disabled)
+
+Never collapse onto one line: blocks, functions, lambdas, `if` statements, loops.
+
+### Templates
+
+`template<class T>` goes on its own line, declaration follows on the next line:
+
+```cpp
+template<class Type>
+requires std::is_arithmetic_v<Type>
+class Vector3 : public Vector2<Type>
+{
+    ...
+};
+```
+
+No space after `template` keyword. `requires` clause is not extra-indented.
+
+### Spaces
+
+- After control-statement keywords (`if (`, `for (`, `while (`).
+- **Not** before `(` in function declarations/definitions/calls.
+- After C-style cast: `(int) x`.
+- Around range-based-for colon: `for (auto& x : xs)`.
+- After commas in template args/params.
+- Inside empty parens/braces/templates: no.
+
+## Naming
+
+| Kind | Style | Example |
+|---|---|---|
+| Namespaces | `snake_case` | `omath::pathfinding`, `omath::primitives` |
+| Types (class, struct, enum, union, concept, type alias, typedef, template parameter) | `PascalCase` | `Vector3`, `NavigationMesh`, `Astar`, `ContainedType` |
+| Functions (free + member) | `snake_case` | `find_path`, `distance_to_sqr`, `create_box` |
+| Fields (class/struct/union members) | `snake_case` | `dir_forward`, `nav_mesh` |
+| Variables (global, local, lambda) | `snake_case` | `length_value`, `side_size` |
+| Parameters | `snake_case` | `dir_right`, `v_other` |
+| Macros | `UPPER_SNAKE_CASE` | `OMATH_FOO_BAR` |
+| Enumerators | `UPPER_SNAKE_CASE` | `IMPOSSIBLE_BETWEEN_ANGLE`, `WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS` |
+
+Enum types themselves are PascalCase (`enum class Vector3Error`, `enum class Error`); their members are UPPER_SNAKE_CASE.
+
+## Files
+
+- Headers: `.hpp`, sources: `.cpp`. Both use `snake_case` filenames (e.g. `vector3.hpp`, `proj_pred_engine_avx2.hpp`).
+- C headers: `.h`, sources: `.c` (no enforced filename style).
+- CUDA: `.cu` / `.cuh`.
+- C++ modules: `.ixx`, `.mxx`, `.cppm`, `.ccm`, `.cxxm`, `.c++m`.
+- Header guard: `#pragma once` only — no `#ifndef` guards.
+- File header comment is optional and follows the form `// Created by <name> on <date>`.
+
+## Idioms used throughout the codebase
+
+- Prefer `[[nodiscard]]`, `noexcept`, and `constexpr` on math / value-type methods.
+- `namespace omath` is the root; sub-features live in nested namespaces (`omath::collision`, `omath::engines::source_engine`, etc.).
+- Closing namespace brace gets a trailing comment: `} // namespace omath::primitives`.
+- Use `std::expected<T, E>` with an `enum class …Error` for fallible operations (see `Vector3Error`, `projection::Error`).
+
+## When editing
+
+Match the surrounding style exactly. If a region disagrees with this guide, prefer the existing local style — don't reformat unrelated code (per the project's CLAUDE.md "Surgical Changes" rule). Run clang-format on touched files before committing.

.claude/skills/karpathy-guidelines/SKILL.md

@@ -0,0 +1,67 @@
+---
+name: karpathy-guidelines
+description: Behavioral guidelines to reduce common LLM coding mistakes. Use when writing, reviewing, or refactoring code to avoid overcomplication, make surgical changes, surface assumptions, and define verifiable success criteria.
+license: MIT
+---
+
+# Karpathy Guidelines
+
+Behavioral guidelines to reduce common LLM coding mistakes, derived from [Andrej Karpathy's observations](https://x.com/karpathy/status/2015883857489522876) on LLM coding pitfalls.
+
+**Tradeoff:** These guidelines bias toward caution over speed. For trivial tasks, use judgment.
+
+## 1. Think Before Coding
+
+**Don't assume. Don't hide confusion. Surface tradeoffs.**
+
+Before implementing:
+- State your assumptions explicitly. If uncertain, ask.
+- If multiple interpretations exist, present them - don't pick silently.
+- If a simpler approach exists, say so. Push back when warranted.
+- If something is unclear, stop. Name what's confusing. Ask.
+
+## 2. Simplicity First
+
+**Minimum code that solves the problem. Nothing speculative.**
+
+- No features beyond what was asked.
+- No abstractions for single-use code.
+- No "flexibility" or "configurability" that wasn't requested.
+- No error handling for impossible scenarios.
+- If you write 200 lines and it could be 50, rewrite it.
+
+Ask yourself: "Would a senior engineer say this is overcomplicated?" If yes, simplify.
+
+## 3. Surgical Changes
+
+**Touch only what you must. Clean up only your own mess.**
+
+When editing existing code:
+- Don't "improve" adjacent code, comments, or formatting.
+- Don't refactor things that aren't broken.
+- Match existing style, even if you'd do it differently.
+- If you notice unrelated dead code, mention it - don't delete it.
+
+When your changes create orphans:
+- Remove imports/variables/functions that YOUR changes made unused.
+- Don't remove pre-existing dead code unless asked.
+
+The test: Every changed line should trace directly to the user's request.
+
+## 4. Goal-Driven Execution
+
+**Define success criteria. Loop until verified.**
+
+Transform tasks into verifiable goals:
+- "Add validation" → "Write tests for invalid inputs, then make them pass"
+- "Fix the bug" → "Write a test that reproduces it, then make it pass"
+- "Refactor X" → "Ensure tests pass before and after"
+
+For multi-step tasks, state a brief plan:
+```
+1. [Step] → verify: [check]
+2. [Step] → verify: [check]
+3. [Step] → verify: [check]
+```
+
+Strong success criteria let you loop independently. Weak criteria ("make it work") require constant clarification.

.idea/editor.xml

@@ -139,6 +139,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOverrideWithDifferentVisibility/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNamesMismatch/@EntryIndexedValue" value="HINT" type="string" />

AGENTS.md

@@ -0,0 +1,65 @@
+# AGENTS.md
+
+Behavioral guidelines to reduce common LLM coding mistakes. Merge with project-specific instructions as needed.
+
+**Tradeoff:** These guidelines bias toward caution over speed. For trivial tasks, use judgment.
+
+## 1. Think Before Coding
+
+**Don't assume. Don't hide confusion. Surface tradeoffs.**
+
+Before implementing:
+- State your assumptions explicitly. If uncertain, ask.
+- If multiple interpretations exist, present them - don't pick silently.
+- If a simpler approach exists, say so. Push back when warranted.
+- If something is unclear, stop. Name what's confusing. Ask.
+
+## 2. Simplicity First
+
+**Minimum code that solves the problem. Nothing speculative.**
+
+- No features beyond what was asked.
+- No abstractions for single-use code.
+- No "flexibility" or "configurability" that wasn't requested.
+- No error handling for impossible scenarios.
+- If you write 200 lines and it could be 50, rewrite it.
+
+Ask yourself: "Would a senior engineer say this is overcomplicated?" If yes, simplify.
+
+## 3. Surgical Changes
+
+**Touch only what you must. Clean up only your own mess.**
+
+When editing existing code:
+- Don't "improve" adjacent code, comments, or formatting.
+- Don't refactor things that aren't broken.
+- Match existing style, even if you'd do it differently.
+- If you notice unrelated dead code, mention it - don't delete it.
+
+When your changes create orphans:
+- Remove imports/variables/functions that YOUR changes made unused.
+- Don't remove pre-existing dead code unless asked.
+
+The test: Every changed line should trace directly to the user's request.
+
+## 4. Goal-Driven Execution
+
+**Define success criteria. Loop until verified.**
+
+Transform tasks into verifiable goals:
+- "Add validation" → "Write tests for invalid inputs, then make them pass"
+- "Fix the bug" → "Write a test that reproduces it, then make it pass"
+- "Refactor X" → "Ensure tests pass before and after"
+
+For multi-step tasks, state a brief plan:
+```
+1. [Step] → verify: [check]
+2. [Step] → verify: [check]
+3. [Step] → verify: [check]
+```
+
+Strong success criteria let you loop independently. Weak criteria ("make it work") require constant clarification.
+
+---
+
+**These guidelines are working if:** fewer unnecessary changes in diffs, fewer rewrites due to overcomplication, and clarifying questions come before implementation rather than after mistakes.

CLAUDE.md

@@ -0,0 +1,65 @@
+# CLAUDE.md
+
+Behavioral guidelines to reduce common LLM coding mistakes. Merge with project-specific instructions as needed.
+
+**Tradeoff:** These guidelines bias toward caution over speed. For trivial tasks, use judgment.
+
+## 1. Think Before Coding
+
+**Don't assume. Don't hide confusion. Surface tradeoffs.**
+
+Before implementing:
+- State your assumptions explicitly. If uncertain, ask.
+- If multiple interpretations exist, present them - don't pick silently.
+- If a simpler approach exists, say so. Push back when warranted.
+- If something is unclear, stop. Name what's confusing. Ask.
+
+## 2. Simplicity First
+
+**Minimum code that solves the problem. Nothing speculative.**
+
+- No features beyond what was asked.
+- No abstractions for single-use code.
+- No "flexibility" or "configurability" that wasn't requested.
+- No error handling for impossible scenarios.
+- If you write 200 lines and it could be 50, rewrite it.
+
+Ask yourself: "Would a senior engineer say this is overcomplicated?" If yes, simplify.
+
+## 3. Surgical Changes
+
+**Touch only what you must. Clean up only your own mess.**
+
+When editing existing code:
+- Don't "improve" adjacent code, comments, or formatting.
+- Don't refactor things that aren't broken.
+- Match existing style, even if you'd do it differently.
+- If you notice unrelated dead code, mention it - don't delete it.
+
+When your changes create orphans:
+- Remove imports/variables/functions that YOUR changes made unused.
+- Don't remove pre-existing dead code unless asked.
+
+The test: Every changed line should trace directly to the user's request.
+
+## 4. Goal-Driven Execution
+
+**Define success criteria. Loop until verified.**
+
+Transform tasks into verifiable goals:
+- "Add validation" → "Write tests for invalid inputs, then make them pass"
+- "Fix the bug" → "Write a test that reproduces it, then make it pass"
+- "Refactor X" → "Ensure tests pass before and after"
+
+For multi-step tasks, state a brief plan:
+```
+1. [Step] → verify: [check]
+2. [Step] → verify: [check]
+3. [Step] → verify: [check]
+```
+
+Strong success criteria let you loop independently. Weak criteria ("make it work") require constant clarification.
+
+---
+
+**These guidelines are working if:** fewer unnecessary changes in diffs, fewer rewrites due to overcomplication, and clarifying questions come before implementation rather than after mistakes.

CMakeLists.txt

@@ -1,5 +1,4 @@
 cmake_minimum_required(VERSION 3.26)
-
 file(READ VERSION OMATH_VERSION)
 project(omath VERSION ${OMATH_VERSION} LANGUAGES CXX)
 
@@ -31,9 +30,10 @@ option(OMATH_SUPRESS_SAFETY_CHECKS
 option(OMATH_ENABLE_COVERAGE "Enable coverage" OFF)
 option(OMATH_ENABLE_FORCE_INLINE
        "Will for compiler to make some functions to be force inlined no matter what" ON)
-
 option(OMATH_ENABLE_LUA
         "omath bindings for lua" OFF)
+option(OMATH_ENABLE_HOOKING "omath will HooksManager that can hook DirectX/OpenGL automatically" OFF)
+
 if(VCPKG_MANIFEST_FEATURES)
     foreach(omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
         if(omath_feature STREQUAL "imgui")
@@ -48,6 +48,8 @@ if(VCPKG_MANIFEST_FEATURES)
             set(OMATH_BUILD_EXAMPLES ON)
         elseif(omath_feature STREQUAL "lua")
             set(OMATH_ENABLE_LUA ON)
+        elseif(omath_feature STREQUAL "hooking")
+            set(OMATH_ENABLE_HOOKING ON)
         endif()
 
     endforeach()
@@ -80,6 +82,10 @@ if(${PROJECT_IS_TOP_LEVEL})
     message(STATUS "[${PROJECT_NAME}]: Lua feature status ${OMATH_ENABLE_LUA}")
 endif()
 
+if(OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
+    set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>" CACHE STRING "" FORCE)
+endif()
+
 file(GLOB_RECURSE OMATH_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/source/*.cpp")
 file(GLOB_RECURSE OMATH_HEADERS CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/include/*.hpp")
 
@@ -100,6 +106,20 @@ if (OMATH_ENABLE_LUA)
     target_include_directories(${PROJECT_NAME} PRIVATE ${SOL2_INCLUDE_DIRS})
 endif ()
 
+if (OMATH_ENABLE_HOOKING)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_HOOKING)
+
+    find_package(safetyhook CONFIG REQUIRED)
+    target_link_libraries(${PROJECT_NAME} PRIVATE safetyhook::safetyhook)
+
+    if (WIN32)
+        target_link_libraries(${PROJECT_NAME} PRIVATE d3d9 d3d11 d3d12 dxgi opengl32 gdi32)
+    elseif (UNIX AND NOT APPLE)
+        find_package(OpenGL REQUIRED)
+        target_link_libraries(${PROJECT_NAME} PRIVATE OpenGL::GL ${CMAKE_DL_LIBS})
+    endif ()
+endif ()
+
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_VERSION="${PROJECT_VERSION}")
@@ -147,10 +167,6 @@ set_target_properties(
                CXX_STANDARD 23
                CXX_STANDARD_REQUIRED ON)
 
-if(OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
-    set_target_properties(${PROJECT_NAME} PROPERTIES MSVC_RUNTIME_LIBRARY
-                                                     "MultiThreaded$<$<CONFIG:Debug>:Debug>")
-endif()
 
 if(OMATH_USE_AVX2)
     if(MSVC)

CMakePresets.json

@@ -56,7 +56,9 @@
       "hidden": true,
       "inherits": ["windows-base", "vcpkg-base"],
       "cacheVariables": {
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples"
+        "VCPKG_TARGET_TRIPLET": "x64-windows-static",
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples;hooking",
+        "OMATH_STATIC_MSVC_RUNTIME_LIBRARY": "ON"
       }
     },
     {
@@ -89,9 +91,10 @@
         "strategy": "external"
       },
       "cacheVariables": {
-        "VCPKG_TARGET_TRIPLET": "x86-windows",
+        "VCPKG_TARGET_TRIPLET": "x86-windows-static",
         "VCPKG_HOST_TRIPLET": "x64-windows",
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples"
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples",
+        "OMATH_STATIC_MSVC_RUNTIME_LIBRARY": "ON"
       }
     },
     {
@@ -114,9 +117,10 @@
         "strategy": "external"
       },
       "cacheVariables": {
-        "VCPKG_TARGET_TRIPLET": "arm64-windows",
+        "VCPKG_TARGET_TRIPLET": "arm64-windows-static",
-        "VCPKG_HOST_TRIPLET": "arm64-windows",
+        "VCPKG_HOST_TRIPLET": "arm64-windows-static",
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;examples"
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;examples",
+        "OMATH_STATIC_MSVC_RUNTIME_LIBRARY": "ON"
       }
     },
     {

VERSION

@@ -1 +1 @@
-5.0.0
+5.2.0

benchmark/benchmark_projectile_pred.cpp

@@ -12,11 +12,11 @@ constexpr float hit_distance_tolerance = 5.f;
 
 void source_engine_projectile_prediction(benchmark::State& state)
 {
-    constexpr Target target{.m_origin = {100, 0, 90}, .m_velocity = {0, 0, 0}, .m_is_airborne = false};
+    constexpr Target<float> target{.m_origin = {100, 0, 90}, .m_velocity = {0, 0, 0}, .m_is_airborne = false};
-    constexpr Projectile projectile = {.m_origin = {3, 2, 1}, .m_launch_speed = 5000, .m_gravity_scale = 0.4};
+    constexpr Projectile<float> projectile = {.m_origin = {3, 2, 1}, .m_launch_speed = 5000.f, .m_gravity_scale = 0.4f};
 
     for ([[maybe_unused]] const auto _: state)
-        std::ignore = ProjPredEngineLegacy(400, simulation_time_step, 50, hit_distance_tolerance)
+        std::ignore = ProjPredEngineLegacy<>(400.f, simulation_time_step, 50.f, hit_distance_tolerance)
                               .maybe_calculate_aim_point(projectile, target);
 }
 

examples/CMakeLists.txt

@@ -4,6 +4,20 @@ add_subdirectory(example_proj_mat_builder)
 add_subdirectory(example_signature_scan)
 add_subdirectory(example_hud)
 
+if(OMATH_ENABLE_HOOKING AND WIN32)
+    # Requires imgui with dx9-binding, dx11-binding, dx12-binding, opengl3-binding, win32-binding.
+    # Install via: vcpkg install imgui[dx9-binding,dx11-binding,dx12-binding,opengl3-binding,win32-binding]
+    find_package(imgui CONFIG QUIET)
+    if(imgui_FOUND)
+        add_subdirectory(example_dx9_hook)
+        add_subdirectory(example_dx11_hook)
+        add_subdirectory(example_dx12_hook)
+        add_subdirectory(example_opengl_hook)
+    else()
+        message(STATUS "[omath] imgui not found - hook examples skipped")
+    endif()
+endif()
+
 if(OMATH_ENABLE_VALGRIND)
     omath_setup_valgrind(example_projection_matrix_builder)
     omath_setup_valgrind(example_signature_scan)

examples/example_dx11_hook/CMakeLists.txt

@@ -0,0 +1,13 @@
+project(example_dx11_hook)
+
+add_library(${PROJECT_NAME} SHARED dllmain.cpp)
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+    CXX_STANDARD 23
+    MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>"
+    ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+
+find_package(imgui CONFIG REQUIRED)
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath imgui::imgui d3d11 dxgi)

examples/example_dx11_hook/dllmain.cpp

@@ -0,0 +1,154 @@
+#include "omath/hooks/hooks_manager.hpp"
+#include <Windows.h>
+#include <d3d11.h>
+#include <dxgi.h>
+#include <imgui.h>
+#include <imgui_impl_dx11.h>
+#include <imgui_impl_win32.h>
+
+extern IMGUI_IMPL_API LRESULT ImGui_ImplWin32_WndProcHandler(HWND, UINT, WPARAM, LPARAM);
+
+namespace
+{
+    bool g_initialized = false;
+    bool g_init_attempted = false;
+
+    ID3D11Device* g_device = nullptr;
+    ID3D11DeviceContext* g_context = nullptr;
+    ID3D11RenderTargetView* g_render_target_view = nullptr;
+
+    void create_render_target(IDXGISwapChain* swap_chain)
+    {
+        ID3D11Texture2D* back_buffer = nullptr;
+        if (FAILED(swap_chain->GetBuffer(0, IID_PPV_ARGS(&back_buffer))))
+            return;
+        g_device->CreateRenderTargetView(back_buffer, nullptr, &g_render_target_view);
+        back_buffer->Release();
+    }
+
+    void init(IDXGISwapChain* swap_chain)
+    {
+        g_init_attempted = true;
+
+        if (FAILED(swap_chain->GetDevice(IID_PPV_ARGS(&g_device))))
+            return;
+
+        g_device->GetImmediateContext(&g_context);
+
+        DXGI_SWAP_CHAIN_DESC desc{};
+        swap_chain->GetDesc(&desc);
+
+        create_render_target(swap_chain);
+
+        ImGui::CreateContext();
+        ImGui::StyleColorsDark();
+        ImGui::GetIO().IniFilename = nullptr;
+        ImGui::GetIO().LogFilename = nullptr;
+        ImGui::GetIO().ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange;
+
+        ImGui_ImplWin32_Init(desc.OutputWindow);
+        ImGui_ImplDX11_Init(g_device, g_context);
+
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.set_on_wnd_proc(
+                [](HWND h, UINT msg, WPARAM wp, LPARAM lp) -> std::optional<LRESULT>
+                {
+                    if (ImGui_ImplWin32_WndProcHandler(h, msg, wp, lp))
+                        return 0;
+                    return std::nullopt;
+                });
+        std::ignore = mgr.hook_wnd_proc(desc.OutputWindow);
+
+        g_initialized = true;
+    }
+
+    void on_present(IDXGISwapChain* swap_chain, UINT, UINT)
+    {
+        if (!g_initialized)
+        {
+            if (!g_init_attempted)
+                init(swap_chain);
+            return;
+        }
+
+        if (!g_render_target_view)
+            create_render_target(swap_chain);
+
+        g_context->OMSetRenderTargets(1, &g_render_target_view, nullptr);
+
+        ImGui_ImplDX11_NewFrame();
+        ImGui_ImplWin32_NewFrame();
+        ImGui::NewFrame();
+
+        ImGui::SetNextWindowSize({300.f, 80.f}, ImGuiCond_Once);
+        ImGui::SetNextWindowPos({10.f, 10.f}, ImGuiCond_Once);
+        ImGui::Begin("omath | DX11 hook");
+        ImGui::Text("Hook active");
+        ImGui::Text("FPS: %.1f", ImGui::GetIO().Framerate);
+        ImGui::End();
+
+        ImGui::Render();
+        ImGui_ImplDX11_RenderDrawData(ImGui::GetDrawData());
+    }
+
+    void on_resize_buffers(IDXGISwapChain*, UINT, UINT, UINT, DXGI_FORMAT, UINT)
+    {
+        if (g_render_target_view)
+        {
+            g_render_target_view->Release();
+            g_render_target_view = nullptr;
+        }
+    }
+} // namespace
+
+BOOL WINAPI DllMain(HINSTANCE h_instance, DWORD reason, LPVOID)
+{
+    if (reason == DLL_PROCESS_ATTACH)
+    {
+        DisableThreadLibraryCalls(h_instance);
+        CreateThread(
+                nullptr, 0,
+                [](LPVOID) -> DWORD
+                {
+                    while (!GetModuleHandle("d3d11.dll"))
+                        Sleep(100);
+
+                    auto& mgr = omath::hooks::HooksManager::get();
+                    mgr.set_on_present(on_present);
+                    mgr.set_on_resize_buffers(on_resize_buffers);
+                    mgr.hook_dx11();
+                    return 0;
+                },
+                nullptr, 0, nullptr);
+    }
+    else if (reason == DLL_PROCESS_DETACH)
+    {
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.unhook_wnd_proc();
+        mgr.unhook_dx11();
+
+        if (g_initialized)
+        {
+            ImGui_ImplDX11_Shutdown();
+            ImGui_ImplWin32_Shutdown();
+            ImGui::DestroyContext();
+        }
+
+        if (g_render_target_view)
+        {
+            g_render_target_view->Release();
+            g_render_target_view = nullptr;
+        }
+        if (g_context)
+        {
+            g_context->Release();
+            g_context = nullptr;
+        }
+        if (g_device)
+        {
+            g_device->Release();
+            g_device = nullptr;
+        }
+    }
+    return TRUE;
+}

examples/example_dx12_hook/CMakeLists.txt

@@ -0,0 +1,13 @@
+project(example_dx12_hook)
+
+add_library(${PROJECT_NAME} MODULE dllmain.cpp)
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+    CXX_STANDARD 23
+    MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>"
+    ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+
+find_package(imgui CONFIG REQUIRED)
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath imgui::imgui d3d12 dxgi)

examples/example_dx12_hook/dllmain.cpp

@@ -0,0 +1,254 @@
+#include "omath/hooks/hooks_manager.hpp"
+#include <Windows.h>
+#include <d3d12.h>
+#include <dxgi1_4.h>
+#include <imgui.h>
+#include <imgui_impl_dx12.h>
+#include <imgui_impl_win32.h>
+#include <tuple>
+#include <vector>
+
+extern IMGUI_IMPL_API LRESULT ImGui_ImplWin32_WndProcHandler(HWND, UINT, WPARAM, LPARAM);
+bool show_menu = true;
+
+namespace
+{
+    struct frame_context
+    {
+        ID3D12Resource* render_target = nullptr;
+        D3D12_CPU_DESCRIPTOR_HANDLE rtv_handle = {};
+    };
+
+    bool g_initialized = false;
+    bool g_init_attempted = false;
+
+    ID3D12Device* g_device = nullptr;
+    ID3D12CommandQueue* g_command_queue = nullptr;
+    IDXGISwapChain3* g_swap_chain = nullptr;
+    ID3D12DescriptorHeap* g_rtv_heap = nullptr;
+    ID3D12DescriptorHeap* g_srv_heap = nullptr;
+    ID3D12GraphicsCommandList* g_command_list = nullptr;
+    ID3D12CommandAllocator* g_command_allocator = nullptr;
+    std::vector<frame_context> g_frames;
+
+    void init(IDXGISwapChain* swap_chain)
+    {
+        g_init_attempted = true;
+
+        if (FAILED(swap_chain->QueryInterface(IID_PPV_ARGS(&g_swap_chain))))
+            return;
+
+        if (FAILED(swap_chain->GetDevice(IID_PPV_ARGS(&g_device))))
+            return;
+
+        DXGI_SWAP_CHAIN_DESC desc{};
+        swap_chain->GetDesc(&desc);
+        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.Flags = D3D12_DESCRIPTOR_HEAP_FLAG_SHADER_VISIBLE;
+            if (FAILED(g_device->CreateDescriptorHeap(&heap_desc, IID_PPV_ARGS(&g_srv_heap))))
+                return;
+        }
+        {
+            D3D12_DESCRIPTOR_HEAP_DESC heap_desc{};
+            heap_desc.Type = D3D12_DESCRIPTOR_HEAP_TYPE_RTV;
+            heap_desc.NumDescriptors = buffer_count;
+            heap_desc.Flags = D3D12_DESCRIPTOR_HEAP_FLAG_NONE;
+            heap_desc.NodeMask = 1;
+            if (FAILED(g_device->CreateDescriptorHeap(&heap_desc, IID_PPV_ARGS(&g_rtv_heap))))
+                return;
+        }
+
+        if (FAILED(g_device->CreateCommandAllocator(D3D12_COMMAND_LIST_TYPE_DIRECT,
+                                                    IID_PPV_ARGS(&g_command_allocator))))
+            return;
+
+        g_frames.resize(buffer_count);
+        const UINT rtv_size = g_device->GetDescriptorHandleIncrementSize(D3D12_DESCRIPTOR_HEAP_TYPE_RTV);
+        D3D12_CPU_DESCRIPTOR_HANDLE rtv_handle = g_rtv_heap->GetCPUDescriptorHandleForHeapStart();
+
+        for (UINT i = 0; i < buffer_count; ++i)
+        {
+            g_frames[i].rtv_handle = rtv_handle;
+            if (FAILED(swap_chain->GetBuffer(i, IID_PPV_ARGS(&g_frames[i].render_target))))
+                return;
+            g_device->CreateRenderTargetView(g_frames[i].render_target, nullptr, rtv_handle);
+            rtv_handle.ptr += rtv_size;
+        }
+
+        if (FAILED(g_device->CreateCommandList(0, D3D12_COMMAND_LIST_TYPE_DIRECT, g_command_allocator, nullptr,
+                                               IID_PPV_ARGS(&g_command_list))))
+            return;
+        g_command_list->Close();
+
+        ImGui::CreateContext();
+        ImGui::StyleColorsDark();
+        ImGui::GetIO().IniFilename = nullptr;
+        ImGui::GetIO().LogFilename = nullptr;
+        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_CreateDeviceObjects();
+
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.set_on_wnd_proc(
+                [](HWND h, UINT msg, WPARAM wp, LPARAM lp) -> std::optional<LRESULT>
+                {
+                    if (!show_menu)
+                        return std::nullopt;
+
+                    ImGui_ImplWin32_WndProcHandler(h, msg, wp, lp);
+                    return true;
+                });
+        std::ignore = mgr.hook_wnd_proc(desc.OutputWindow);
+
+        g_initialized = true;
+    }
+
+    void on_execute_command_lists(ID3D12CommandQueue* queue, UINT, ID3D12CommandList* const*)
+    {
+        if (!g_command_queue)
+            g_command_queue = queue;
+    }
+
+    void on_present(IDXGISwapChain* swap_chain, UINT, UINT)
+    {
+        if (!g_initialized)
+        {
+            if (!g_init_attempted && g_command_queue)
+                init(swap_chain);
+            return;
+        }
+
+        if (!g_command_queue)
+            return;
+
+        if (GetAsyncKeyState(VK_INSERT) & 1)
+            show_menu = !show_menu;
+
+        if (!show_menu)
+            return;
+
+        ImGui_ImplDX12_NewFrame();
+        ImGui_ImplWin32_NewFrame();
+        ImGui::NewFrame();
+        ImGui::GetIO().MouseDrawCursor = true;
+        ImGui::ShowDemoWindow();
+        ImGui::EndFrame();
+
+        const UINT buf_idx = g_swap_chain->GetCurrentBackBufferIndex();
+        auto& fc = g_frames[buf_idx];
+
+        g_command_allocator->Reset();
+        g_command_list->Reset(g_command_allocator, nullptr);
+
+        D3D12_RESOURCE_BARRIER barrier{};
+        barrier.Type = D3D12_RESOURCE_BARRIER_TYPE_TRANSITION;
+        barrier.Flags = D3D12_RESOURCE_BARRIER_FLAG_NONE;
+        barrier.Transition.pResource = fc.render_target;
+        barrier.Transition.Subresource = D3D12_RESOURCE_BARRIER_ALL_SUBRESOURCES;
+        barrier.Transition.StateBefore = D3D12_RESOURCE_STATE_PRESENT;
+        barrier.Transition.StateAfter = D3D12_RESOURCE_STATE_RENDER_TARGET;
+        g_command_list->ResourceBarrier(1, &barrier);
+        g_command_list->OMSetRenderTargets(1, &fc.rtv_handle, FALSE, nullptr);
+        g_command_list->SetDescriptorHeaps(1, &g_srv_heap);
+
+        ImGui::Render();
+        ImGui_ImplDX12_RenderDrawData(ImGui::GetDrawData(), g_command_list);
+
+        barrier.Transition.StateBefore = D3D12_RESOURCE_STATE_RENDER_TARGET;
+        barrier.Transition.StateAfter = D3D12_RESOURCE_STATE_PRESENT;
+        g_command_list->ResourceBarrier(1, &barrier);
+        g_command_list->Close();
+
+        ID3D12CommandList* cmd_lists[] = {g_command_list};
+        g_command_queue->ExecuteCommandLists(1, cmd_lists);
+    }
+
+    void release_dx12_resources()
+    {
+        for (auto& fc : g_frames)
+        {
+            if (fc.render_target)
+            {
+                fc.render_target->Release();
+                fc.render_target = nullptr;
+            }
+        }
+        g_frames.clear();
+        if (g_command_allocator)
+        {
+            g_command_allocator->Release();
+            g_command_allocator = nullptr;
+        }
+        if (g_command_list)
+        {
+            g_command_list->Release();
+            g_command_list = nullptr;
+        }
+        if (g_srv_heap)
+        {
+            g_srv_heap->Release();
+            g_srv_heap = nullptr;
+        }
+        if (g_rtv_heap)
+        {
+            g_rtv_heap->Release();
+            g_rtv_heap = nullptr;
+        }
+        if (g_swap_chain)
+        {
+            g_swap_chain->Release();
+            g_swap_chain = nullptr;
+        }
+        if (g_device)
+        {
+            g_device->Release();
+            g_device = nullptr;
+        }
+    }
+} // namespace
+
+BOOL WINAPI DllMain(HINSTANCE h_instance, DWORD reason, LPVOID)
+{
+    if (reason == DLL_PROCESS_ATTACH)
+    {
+        DisableThreadLibraryCalls(h_instance);
+        CreateThread(
+                nullptr, 0,
+                [](LPVOID) -> DWORD
+                {
+                    while (!GetModuleHandle("d3d12.dll"))
+                        Sleep(100);
+
+                    auto& mgr = omath::hooks::HooksManager::get();
+                    mgr.set_on_present(on_present);
+                    mgr.set_on_execute_command_lists(on_execute_command_lists);
+                    std::ignore = mgr.hook_dx12();
+                    return 0;
+                },
+                nullptr, 0, nullptr);
+    }
+    else if (reason == DLL_PROCESS_DETACH)
+    {
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.unhook_wnd_proc();
+        mgr.unhook_dx12();
+
+        if (g_initialized)
+        {
+            ImGui_ImplDX12_Shutdown();
+            ImGui_ImplWin32_Shutdown();
+            ImGui::DestroyContext();
+        }
+        release_dx12_resources();
+    }
+    return TRUE;
+}

examples/example_dx9_hook/CMakeLists.txt

@@ -0,0 +1,13 @@
+project(example_dx9_hook)
+
+add_library(${PROJECT_NAME} MODULE dllmain.cpp)
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+    CXX_STANDARD 23
+    MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>"
+    ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+
+find_package(imgui CONFIG REQUIRED)
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath imgui::imgui d3d9)

examples/example_dx9_hook/dllmain.cpp

@@ -0,0 +1,107 @@
+#include <Windows.h>
+#include <d3d9.h>
+#include <imgui.h>
+#include <imgui_impl_dx9.h>
+#include <imgui_impl_win32.h>
+
+#include "omath/hooks/hooks_manager.hpp"
+
+extern IMGUI_IMPL_API LRESULT ImGui_ImplWin32_WndProcHandler(HWND, UINT, WPARAM, LPARAM);
+
+namespace
+{
+    bool g_initialized    = false;
+    bool g_init_attempted = false;
+
+    void init(IDirect3DDevice9* device)
+    {
+        g_init_attempted = true;
+
+        D3DDEVICE_CREATION_PARAMETERS params{};
+        if (FAILED(device->GetCreationParameters(&params)))
+            return;
+
+        ImGui::CreateContext();
+        ImGui::StyleColorsDark();
+        ImGui::GetIO().IniFilename = nullptr;
+        ImGui::GetIO().LogFilename = nullptr;
+        ImGui::GetIO().ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange;
+
+        ImGui_ImplWin32_Init(params.hFocusWindow);
+        ImGui_ImplDX9_Init(device);
+
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.set_on_wnd_proc([](HWND h, UINT msg, WPARAM wp, LPARAM lp) -> std::optional<LRESULT> {
+            if (ImGui_ImplWin32_WndProcHandler(h, msg, wp, lp))
+                return 0;
+            return std::nullopt;
+        });
+        mgr.hook_wnd_proc(params.hFocusWindow);
+
+        g_initialized = true;
+    }
+
+    void on_present(IDirect3DDevice9* device, const RECT*, const RECT*, HWND, const RGNDATA*)
+    {
+        if (!g_initialized)
+        {
+            if (!g_init_attempted)
+                init(device);
+            return;
+        }
+
+        ImGui_ImplDX9_NewFrame();
+        ImGui_ImplWin32_NewFrame();
+        ImGui::NewFrame();
+
+        ImGui::SetNextWindowSize({300.f, 80.f}, ImGuiCond_Once);
+        ImGui::SetNextWindowPos({10.f, 10.f}, ImGuiCond_Once);
+        ImGui::Begin("omath | DX9 hook");
+        ImGui::Text("Hook active");
+        ImGui::Text("FPS: %.1f", ImGui::GetIO().Framerate);
+        ImGui::End();
+
+        ImGui::EndFrame();
+        ImGui::Render();
+        ImGui_ImplDX9_RenderDrawData(ImGui::GetDrawData());
+    }
+
+    void on_reset(IDirect3DDevice9*, D3DPRESENT_PARAMETERS*)
+    {
+        if (g_initialized)
+            ImGui_ImplDX9_InvalidateDeviceObjects();
+    }
+} // namespace
+
+BOOL WINAPI DllMain(HINSTANCE h_instance, DWORD reason, LPVOID)
+{
+    if (reason == DLL_PROCESS_ATTACH)
+    {
+        DisableThreadLibraryCalls(h_instance);
+        CreateThread(nullptr, 0, [](LPVOID) -> DWORD
+        {
+            while (!GetModuleHandle("d3d9.dll"))
+                Sleep(100);
+
+            auto& mgr = omath::hooks::HooksManager::get();
+            mgr.set_on_dx9_present(on_present);
+            mgr.set_on_dx9_reset(on_reset);
+            mgr.hook_dx9();
+            return 0;
+        }, nullptr, 0, nullptr);
+    }
+    else if (reason == DLL_PROCESS_DETACH)
+    {
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.unhook_wnd_proc();
+        mgr.unhook_dx9();
+
+        if (g_initialized)
+        {
+            ImGui_ImplDX9_Shutdown();
+            ImGui_ImplWin32_Shutdown();
+            ImGui::DestroyContext();
+        }
+    }
+    return TRUE;
+}

examples/example_glfw3/example_glfw3.cpp

@@ -318,22 +318,22 @@ int main()
         glfwPollEvents();
         omath::Vector3<float> move_dir;
         if (glfwGetKey(window, GLFW_KEY_W))
-            move_dir += camera.get_forward();
+            move_dir += camera.get_abs_forward();
 
         if (glfwGetKey(window, GLFW_KEY_A))
-            move_dir -= camera.get_right();
+            move_dir -= camera.get_abs_right();
 
         if (glfwGetKey(window, GLFW_KEY_S))
-            move_dir -= camera.get_forward();
+            move_dir -= camera.get_abs_forward();
 
         if (glfwGetKey(window, GLFW_KEY_D))
-            move_dir += camera.get_right();
+            move_dir += camera.get_abs_right();
 
         if (glfwGetKey(window, GLFW_KEY_SPACE))
-            move_dir += camera.get_up();
+            move_dir += camera.get_abs_up();
 
         if (glfwGetKey(window, GLFW_KEY_LEFT_CONTROL))
-            move_dir -= camera.get_up();
+            move_dir -= camera.get_abs_up();
 
 
         auto delta = glfwGetTime() - old_mouse_time;

examples/example_hud/gui/main_window.cpp

@@ -82,6 +82,7 @@ namespace imgui_desktop::gui
             ImGui::Checkbox("Dashed", &m_show_dashed_box);
             ImGui::ColorEdit4("Color##box", reinterpret_cast<float*>(&m_box_color), ImGuiColorEditFlags_NoInputs);
             ImGui::ColorEdit4("Fill##box", reinterpret_cast<float*>(&m_box_fill), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("Outline##box", reinterpret_cast<float*>(&m_box_outline), ImGuiColorEditFlags_NoInputs);
             ImGui::SliderFloat("Thickness", &m_box_thickness, 0.5f, 5.f);
             ImGui::SliderFloat("Corner ratio", &m_corner_ratio, 0.05f, 0.5f);
             ImGui::Separator();
@@ -199,9 +200,9 @@ namespace imgui_desktop::gui
                                   std::make_shared<omath::hud::ImguiHudRenderer>())
                 .contents(
                         // ── Boxes ────────────────────────────────────────────────────
-                        when(m_show_box, Box{m_box_color, m_box_fill, m_box_thickness}),
+                        when(m_show_box, Box{m_box_color, m_box_fill, m_box_outline, m_box_thickness}),
                         when(m_show_cornered_box, CorneredBox{omath::Color::from_rgba(255, 0, 255, 255), m_box_fill,
-                                                              m_corner_ratio, m_box_thickness}),
+                                                              m_box_outline, m_corner_ratio, m_box_thickness}),
                         when(m_show_dashed_box, DashedBox{m_dash_color, m_dash_len, m_dash_gap, m_dash_thickness}),
                         RightSide{
                                 when(m_show_right_bar, bar),

examples/example_hud/gui/main_window.hpp

@@ -31,6 +31,7 @@ namespace imgui_desktop::gui
         // Box
         omath::Color m_box_color{1.f, 1.f, 1.f, 1.f};
         omath::Color m_box_fill{0.f, 0.f, 0.f, 0.f};
+        omath::Color m_box_outline{0.f, 0.f, 0.f, 0.f};
         float m_box_thickness = 1.f, m_corner_ratio = 0.2f;
         bool m_show_box = true, m_show_cornered_box = true, m_show_dashed_box = false;
 

examples/example_opengl_hook/CMakeLists.txt

@@ -0,0 +1,13 @@
+project(example_opengl_hook)
+
+add_library(${PROJECT_NAME} MODULE dllmain.cpp)
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+    CXX_STANDARD 23
+    MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>"
+    ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
+
+find_package(imgui CONFIG REQUIRED)
+target_link_libraries(${PROJECT_NAME} PRIVATE omath::omath imgui::imgui opengl32 gdi32)

examples/example_opengl_hook/dllmain.cpp

@@ -0,0 +1,116 @@
+#include "omath/hooks/hooks_manager.hpp"
+#include <Windows.h>
+#include <chrono>
+#include <imgui.h>
+#include <imgui_impl_opengl3.h>
+#include <imgui_impl_win32.h>
+#include <optional>
+#include <thread>
+
+extern IMGUI_IMPL_API LRESULT ImGui_ImplWin32_WndProcHandler(HWND, UINT, WPARAM, LPARAM);
+
+namespace
+{
+    bool g_initialized = false;
+    bool g_init_attempted = false;
+    bool g_show_menu = true;
+
+    constexpr auto g_module_wait_delay = std::chrono::milliseconds{100};
+
+    void init(HDC hdc)
+    {
+        g_init_attempted = true;
+
+        const HWND hwnd = WindowFromDC(hdc);
+        if (!hwnd)
+            return;
+
+        ImGui::CreateContext();
+        ImGui::StyleColorsDark();
+        ImGui::GetIO().IniFilename = nullptr;
+        ImGui::GetIO().LogFilename = nullptr;
+        ImGui::GetIO().ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange;
+
+        ImGui_ImplWin32_Init(hwnd);
+        ImGui_ImplOpenGL3_Init();
+
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.set_on_wnd_proc(
+                [](HWND h, UINT msg, WPARAM wp, LPARAM lp) -> std::optional<LRESULT>
+                {
+                    if (!g_show_menu)
+                        return std::nullopt;
+
+                    if (ImGui_ImplWin32_WndProcHandler(h, msg, wp, lp))
+                        return 0;
+                    return std::nullopt;
+                });
+        (void)mgr.hook_wnd_proc(hwnd);
+
+        g_initialized = true;
+    }
+
+    void on_swap_buffers(HDC hdc)
+    {
+        if (!g_initialized)
+        {
+            if (!g_init_attempted)
+                init(hdc);
+            return;
+        }
+
+        if (GetAsyncKeyState(VK_INSERT) & 1)
+            g_show_menu = !g_show_menu;
+
+        ImGui_ImplOpenGL3_NewFrame();
+        ImGui_ImplWin32_NewFrame();
+        ImGui::NewFrame();
+
+        if (g_show_menu)
+        {
+            ImGui::SetNextWindowSize({300.f, 100.f}, ImGuiCond_Once);
+            ImGui::SetNextWindowPos({10.f, 10.f}, ImGuiCond_Once);
+            ImGui::Begin("omath | OpenGL hook");
+            ImGui::Text("Hook active");
+            ImGui::Text("FPS: %.1f", ImGui::GetIO().Framerate);
+            ImGui::Text("INSERT toggles this window");
+            ImGui::End();
+        }
+
+        ImGui::Render();
+        ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+    }
+
+    void hook_when_opengl_is_loaded()
+    {
+        while (!GetModuleHandle("opengl32.dll"))
+            std::this_thread::sleep_for(g_module_wait_delay);
+
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.set_on_opengl_swap_buffers(on_swap_buffers);
+        (void)mgr.hook_opengl();
+    }
+} // namespace
+
+BOOL WINAPI DllMain(HINSTANCE h_instance, DWORD reason, LPVOID)
+{
+    if (reason == DLL_PROCESS_ATTACH)
+    {
+        DisableThreadLibraryCalls(h_instance);
+        std::thread{hook_when_opengl_is_loaded}.detach();
+    }
+    else if (reason == DLL_PROCESS_DETACH)
+    {
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.unhook_wnd_proc();
+        mgr.unhook_opengl();
+
+        if (g_initialized)
+        {
+            ImGui_ImplOpenGL3_Shutdown();
+            ImGui_ImplWin32_Shutdown();
+            ImGui::DestroyContext();
+        }
+    }
+    return true;
+}

include/omath/3d_primitives/aabb.hpp

@@ -7,6 +7,8 @@
 
 namespace omath::primitives
 {
+    enum class UpAxis { X, Y, Z };
+
     template<class Type>
     struct Aabb final
     {
@@ -24,5 +26,42 @@ namespace omath::primitives
         {
             return (max - min) / static_cast<Type>(2);
         }
+
+        template<UpAxis Up = UpAxis::Y>
+        [[nodiscard]]
+        constexpr Vector3<Type> top() const noexcept
+        {
+            const auto aabb_center = center();
+            if constexpr (Up == UpAxis::Z)
+                return {aabb_center.x, aabb_center.y, max.z};
+            else if constexpr (Up == UpAxis::X)
+                return {max.x, aabb_center.y, aabb_center.z};
+            else if constexpr (Up == UpAxis::Y)
+                return {aabb_center.x, max.y, aabb_center.z};
+            else
+                std::unreachable();
+        }
+
+        template<UpAxis Up = UpAxis::Y>
+        [[nodiscard]]
+        constexpr Vector3<Type> bottom() const noexcept
+        {
+            const auto aabb_center = center();
+            if constexpr (Up == UpAxis::Z)
+                return {aabb_center.x, aabb_center.y, min.z};
+            else if constexpr (Up == UpAxis::X)
+                return {min.x, aabb_center.y, aabb_center.z};
+            else if constexpr (Up == UpAxis::Y)
+                return {aabb_center.x, min.y, aabb_center.z};
+            else
+                std::unreachable();
+        }
+
+        [[nodiscard]]
+        constexpr bool is_collide(const Aabb& other) const noexcept
+        {
+            return min.x <= other.max.x && max.x >= other.min.x &&
+                min.y <= other.max.y && max.y >= other.min.y &&min.z <= other.max.z && max.z >= other.min.z;
+        }
     };
 } // namespace omath::primitives

include/omath/3d_primitives/obb.hpp

@@ -0,0 +1,37 @@
+//
+// Created by Vladislav on 07.05.2026.
+//
+
+#pragma once
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+#include <type_traits>
+
+namespace omath::primitives
+{
+    // Oriented bounding box: a rectangular cuboid defined by a center, three
+    // orthonormal local axes, and the half-size along each of those axes.
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    struct Obb final
+    {
+        Vector3<Type> center;
+        Vector3<Type> axis_x;
+        Vector3<Type> axis_y;
+        Vector3<Type> axis_z;
+        Vector3<Type> half_extents;
+
+        [[nodiscard]]
+        constexpr std::array<Vector3<Type>, 8> vertices() const noexcept
+        {
+            const auto ex = axis_x * half_extents.x;
+            const auto ey = axis_y * half_extents.y;
+            const auto ez = axis_z * half_extents.z;
+
+            return {
+                    center - ex - ey - ez, center + ex - ey - ez, center - ex + ey - ez, center + ex + ey - ez,
+                    center - ex - ey + ez, center + ex - ey + ez, center - ex + ey + ez, center + ex + ey + ez,
+            };
+        }
+    };
+} // namespace omath::primitives

include/omath/collision/epa_algorithm.hpp

@@ -49,7 +49,7 @@ namespace omath::collision
         struct Params final
         {
             int max_iterations{64};
-            FloatingType tolerance{1e-4}; // absolute tolerance on distance growth
+            FloatingType tolerance{1e-4f}; // absolute tolerance on distance growth
         };
         // Precondition: simplex.size()==4 and contains the origin.
         [[nodiscard]]

include/omath/collision/line_tracer.hpp

@@ -4,6 +4,7 @@
 #pragma once
 
 #include "omath/3d_primitives/aabb.hpp"
+#include "omath/3d_primitives/obb.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
 
@@ -36,6 +37,7 @@ namespace omath::collision
     {
         using TriangleType = Triangle<typename RayType::VectorType>;
         using AABBType = primitives::Aabb<typename RayType::VectorType::ContainedType>;
+        using OBBType = primitives::Obb<typename RayType::VectorType::ContainedType>;
 
     public:
         LineTracer() = delete;
@@ -137,6 +139,61 @@ namespace omath::collision
             return ray.start + dir * t_hit;
         }
 
+        // Slab method ray-OBB intersection. Project the ray into the OBB's local frame
+        // (axes are orthonormal, so the inverse rotation is just a transpose / dot products),
+        // then run the standard slab test against the local box [-half_extents, +half_extents].
+        // The ray parameter t is invariant under rigid transform, so the hit point is recovered
+        // in world space as ray.start + dir * t_hit.
+        [[nodiscard]]
+        constexpr static auto get_ray_hit_point(const RayType& ray, const OBBType& obb) noexcept
+        {
+            using T = typename RayType::VectorType::ContainedType;
+
+            const auto offset = ray.start - obb.center;
+            const auto dir = ray.direction_vector();
+
+            const T local_start[3] = {offset.dot(obb.axis_x), offset.dot(obb.axis_y), offset.dot(obb.axis_z)};
+            const T local_dir[3] = {dir.dot(obb.axis_x), dir.dot(obb.axis_y), dir.dot(obb.axis_z)};
+            const T half[3] = {obb.half_extents.x, obb.half_extents.y, obb.half_extents.z};
+
+            auto t_min = -std::numeric_limits<T>::infinity();
+            auto t_max = std::numeric_limits<T>::infinity();
+
+            const auto process_axis = [&](const T& d, const T& origin, const T& h) -> bool
+            {
+                constexpr T k_epsilon = std::numeric_limits<T>::epsilon();
+                if (std::abs(d) < k_epsilon)
+                    return origin >= -h && origin <= h;
+
+                const T inv = T(1) / d;
+                T t0 = (-h - origin) * inv;
+                T t1 = (h - origin) * inv;
+                if (t0 > t1)
+                    std::swap(t0, t1);
+
+                t_min = std::max(t_min, t0);
+                t_max = std::min(t_max, t1);
+                return t_min <= t_max;
+            };
+
+            if (!process_axis(local_dir[0], local_start[0], half[0]))
+                return ray.end;
+            if (!process_axis(local_dir[1], local_start[1], half[1]))
+                return ray.end;
+            if (!process_axis(local_dir[2], local_start[2], half[2]))
+                return ray.end;
+
+            const T t_hit = std::max(T(0), t_min);
+
+            if (t_max < T(0))
+                return ray.end; // box entirely behind origin
+
+            if (!ray.infinite_length && t_hit > T(1))
+                return ray.end; // box beyond ray endpoint
+
+            return ray.start + dir * t_hit;
+        }
+
         template<class MeshType>
         [[nodiscard]]
         constexpr static auto get_ray_hit_point(const RayType& ray, const MeshType& mesh) noexcept

include/omath/engines/cry_engine/camera.hpp

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

include/omath/engines/cry_engine/constants.hpp

@@ -15,7 +15,7 @@ namespace omath::cry_engine
     constexpr Vector3<float> k_abs_forward = {0, 1, 0};
 
     using Mat4X4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
-    using Mat3X3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat3X3 = Mat<3, 3, float, MatStoreType::ROW_MAJOR>;
     using Mat1X3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
     using PitchAngle = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
     using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;

include/omath/engines/cry_engine/formulas.hpp

@@ -21,9 +21,18 @@ namespace omath::cry_engine
     [[nodiscard]]
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
+    [[nodiscard]]
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
     [[nodiscard]]
     Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
-                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::ZERO_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -12,7 +12,7 @@ namespace omath::cry_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile<float>& projectile,
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
@@ -26,7 +26,7 @@ namespace omath::cry_engine
             return current_pos;
         }
         [[nodiscard]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -49,7 +49,7 @@ namespace omath::cry_engine
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {

include/omath/engines/frostbite_engine/camera.hpp

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

include/omath/engines/frostbite_engine/formulas.hpp

@@ -21,6 +21,15 @@ namespace omath::frostbite_engine
     [[nodiscard]]
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
+    [[nodiscard]]
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
     [[nodiscard]]
     Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
                                              NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;

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

@@ -12,7 +12,7 @@ namespace omath::frostbite_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile<float>& projectile,
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
@@ -26,7 +26,7 @@ namespace omath::frostbite_engine
             return current_pos;
         }
         [[nodiscard]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -49,7 +49,7 @@ namespace omath::frostbite_engine
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {

include/omath/engines/iw_engine/camera.hpp

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

include/omath/engines/iw_engine/formulas.hpp

@@ -19,6 +19,15 @@ namespace omath::iw_engine
     [[nodiscard]]
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
+    [[nodiscard]]
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
     [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
 
     [[nodiscard]]

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

@@ -13,7 +13,7 @@ namespace omath::iw_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile<float>& projectile,
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
@@ -27,7 +27,7 @@ namespace omath::iw_engine
             return current_pos;
         }
         [[nodiscard]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -50,7 +50,7 @@ namespace omath::iw_engine
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {

include/omath/engines/opengl_engine/camera.hpp

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

include/omath/engines/opengl_engine/formulas.hpp

@@ -20,6 +20,15 @@ namespace omath::opengl_engine
     [[nodiscard]]
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
+    [[nodiscard]]
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
     [[nodiscard]]
     Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
                                              NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;

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

@@ -12,7 +12,7 @@ namespace omath::opengl_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile<float>& projectile,
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
@@ -26,7 +26,7 @@ namespace omath::opengl_engine
             return current_pos;
         }
         [[nodiscard]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -49,7 +49,7 @@ namespace omath::opengl_engine
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {

include/omath/engines/source_engine/camera.hpp

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

include/omath/engines/source_engine/formulas.hpp

@@ -12,6 +12,15 @@ namespace omath::source_engine
     [[nodiscard]]
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
+    [[nodiscard]]
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
     [[nodiscard]]
     Vector3<float> right_vector(const ViewAngles& angles) noexcept;
 

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

@@ -13,7 +13,7 @@ namespace omath::source_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile<float>& projectile,
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
@@ -27,7 +27,7 @@ namespace omath::source_engine
             return current_pos;
         }
         [[nodiscard]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -50,7 +50,7 @@ namespace omath::source_engine
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {

include/omath/engines/unity_engine/camera.hpp

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

include/omath/engines/unity_engine/formulas.hpp

@@ -21,6 +21,15 @@ namespace omath::unity_engine
     [[nodiscard]]
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
+    [[nodiscard]]
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
     [[nodiscard]]
     Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
                                              NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;

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

@@ -12,7 +12,7 @@ namespace omath::unity_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile<float>& projectile,
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
@@ -26,7 +26,7 @@ namespace omath::unity_engine
             return current_pos;
         }
         [[nodiscard]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -49,7 +49,7 @@ namespace omath::unity_engine
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {

include/omath/engines/unreal_engine/camera.hpp

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

include/omath/engines/unreal_engine/constants.hpp

@@ -11,16 +11,16 @@
 
 namespace omath::unreal_engine
 {
-    constexpr Vector3<float> k_abs_up = {0, 0, 1};
+    constexpr Vector3<double> k_abs_up = {0, 0, 1};
-    constexpr Vector3<float> k_abs_right = {0, 1, 0};
+    constexpr Vector3<double> k_abs_right = {0, 1, 0};
-    constexpr Vector3<float> k_abs_forward = {1, 0, 0};
+    constexpr Vector3<double> k_abs_forward = {1, 0, 0};
 
-    using Mat4X4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat4X4 = Mat<4, 4, double, MatStoreType::ROW_MAJOR>;
-    using Mat3X3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+    using Mat3X3 = Mat<4, 4, double, MatStoreType::ROW_MAJOR>;
-    using Mat1X3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
+    using Mat1X3 = Mat<1, 3, double, MatStoreType::ROW_MAJOR>;
-    using PitchAngle = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
+    using PitchAngle = Angle<double, -90., 90., AngleFlags::Clamped>;
-    using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+    using YawAngle = Angle<double, -180., 180., AngleFlags::Normalized>;
-    using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+    using RollAngle = Angle<double, -180., 180., AngleFlags::Normalized>;
 
     using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
 } // namespace omath::unreal_engine

include/omath/engines/unreal_engine/formulas.hpp

@@ -8,21 +8,30 @@
 namespace omath::unreal_engine
 {
     [[nodiscard]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    Vector3<double> forward_vector(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    Vector3<double> right_vector(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    Vector3<double> up_vector(const ViewAngles& angles) noexcept;
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept;
 
     [[nodiscard]]
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+    Vector3<double> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<double> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Mat4X4 calc_perspective_projection_matrix(double field_of_view, double aspect_ratio, double near, double far,
                                              NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>

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

@@ -12,13 +12,13 @@ namespace omath::unreal_engine
     {
     public:
         [[nodiscard]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        static ViewAngles calc_look_at_angle(const Vector3<double>& cam_origin, const Vector3<double>& look_at) noexcept;
 
         [[nodiscard]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
+                                             double near, double far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unreal_engine

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

@@ -12,67 +12,72 @@ namespace omath::unreal_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        static Vector3<double> predict_projectile_position(const projectile_prediction::Projectile<double>& projectile,
-                                                                    const float pitch, const float yaw,
+                                                           const double pitch, const double yaw,
-                                                                    const float time, const float gravity) noexcept
+                                                           const double time, const double gravity) noexcept
         {
             const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            const auto fwd_d = forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                                               RollAngle::from_degrees(0)});
             auto current_pos = launch_pos
-                               + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                               + Vector3<double>{fwd_d.x, fwd_d.y, fwd_d.z}
-                                                 RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;
-            current_pos.y -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
+            current_pos.y -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5;
 
             return current_pos;
         }
+
         [[nodiscard]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static Vector3<double> predict_target_position(const projectile_prediction::Target<double>& target,
-                                                                const float time, const float gravity) noexcept
+                                                       const double time, const double gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
 
             if (target.m_is_airborne)
-                predicted.y -= gravity * (time * time) * 0.5f;
+                predicted.y -= gravity * (time * time) * 0.5;
 
             return predicted;
         }
+
         [[nodiscard]]
-        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
+        static double calc_vector_2d_distance(const Vector3<double>& delta) noexcept
         {
             return std::sqrt(delta.x * delta.x + delta.z * delta.z);
         }
 
         [[nodiscard]]
-        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
+        static double get_vector_height_coordinate(const Vector3<double>& vec) noexcept
         {
             return vec.y;
         }
 
         [[nodiscard]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<double> calc_viewpoint_from_angles(const projectile_prediction::Projectile<double>& projectile,
-                                                         Vector3<float> predicted_target_position,
+                                                          Vector3<double> predicted_target_position,
-                                                         const std::optional<float> projectile_pitch) noexcept
+                                                          const std::optional<double> projectile_pitch) noexcept
         {
             const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
             const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
 
             return {predicted_target_position.x, predicted_target_position.y, projectile.m_origin.z + height};
         }
+
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down
         [[nodiscard]]
-        static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        static double calc_direct_pitch_angle(const Vector3<double>& origin, const Vector3<double>& view_to) noexcept
         {
             const auto direction = (view_to - origin).normalized();
 
             return angles::radians_to_degrees(std::asin(direction.z));
         }
+
         [[nodiscard]]
-        static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        static double calc_direct_yaw_angle(const Vector3<double>& origin, const Vector3<double>& view_to) noexcept
         {
             const auto direction = (view_to - origin).normalized();
 
             return angles::radians_to_degrees(std::atan2(direction.y, direction.x));
-        };
+        }
     };
 } // namespace omath::unreal_engine

include/omath/hooks/hooks_manager.hpp

@@ -0,0 +1,214 @@
+#pragma once
+
+#ifdef OMATH_ENABLE_HOOKING
+#include <cstdint>
+#include <functional>
+#include <memory>
+#include <optional>
+#include <shared_mutex>
+
+#ifdef _WIN32
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN
+#endif
+#ifndef NOMINMAX
+#define NOMINMAX
+#endif
+#include <Windows.h>
+#include <d3d12.h>
+#include <d3d9.h>
+#include <dxgi.h>
+#endif // _WIN32
+
+#ifdef __linux__
+#include <GL/glx.h>
+#endif // __linux__
+
+#include <safetyhook.hpp>
+
+namespace omath::hooks
+{
+    class HooksManager final
+    {
+        HooksManager() = default;
+
+    public:
+#ifdef _WIN32
+        // IDXGISwapChain callbacks — shared between DX11 and DX12 (same interface, same signature).
+        using present_callback = std::function<void(IDXGISwapChain*, UINT, UINT)>;
+        using resize_buffers_callback = std::function<void(IDXGISwapChain*, UINT, UINT, UINT, DXGI_FORMAT, UINT)>;
+        using execute_command_lists_callback =
+                std::function<void(ID3D12CommandQueue*, UINT, ID3D12CommandList* const*)>;
+
+        // IDirect3DDevice9 callbacks — DX9 only.
+        using dx9_present_callback =
+                std::function<void(IDirect3DDevice9*, const RECT*, const RECT*, HWND, const RGNDATA*)>;
+        using dx9_reset_callback = std::function<void(IDirect3DDevice9*, D3DPRESENT_PARAMETERS*)>;
+        using dx9_end_scene_callback = std::function<void(IDirect3DDevice9*)>;
+
+        // OpenGL callback — Windows. Fires before the hooked buffer swap function calls the original.
+        using opengl_swap_buffers_callback = std::function<void(HDC)>;
+
+        // Return nullopt to pass the message to the original WndProc; return a value to intercept it.
+        using wnd_proc_callback = std::function<std::optional<LRESULT>(HWND, UINT, WPARAM, LPARAM)>;
+#endif // _WIN32
+
+#ifdef __linux__
+        // OpenGL/GLX callback — Linux. Fires before glXSwapBuffers calls the original.
+        using opengl_swap_buffers_callback = std::function<void(Display*, GLXDrawable)>;
+#endif // __linux__
+
+        template<typename Callback>
+        using callback_ptr = std::shared_ptr<const Callback>;
+
+        [[nodiscard]] static HooksManager& get();
+        HooksManager(const HooksManager&) = delete;
+        HooksManager& operator=(const HooksManager&) = delete;
+        ~HooksManager();
+
+#ifdef _WIN32
+        [[nodiscard]] bool hook_dx9();
+        void unhook_dx9();
+        void set_on_dx9_present(dx9_present_callback callback);
+        void set_on_dx9_reset(dx9_reset_callback callback);
+        void set_on_dx9_end_scene(dx9_end_scene_callback callback);
+
+        [[nodiscard]] bool hook_dx11();
+        void unhook_dx11();
+
+        [[nodiscard]] bool hook_dx12();
+        void unhook_dx12();
+#endif // _WIN32
+
+        [[nodiscard]] bool hook_opengl();
+        void unhook_opengl();
+        void set_on_opengl_swap_buffers(opengl_swap_buffers_callback callback);
+
+#ifdef _WIN32
+        // Present and ResizeBuffers callbacks fire for whichever of DX11/DX12 is hooked.
+        void set_on_present(present_callback callback);
+        void set_on_resize_buffers(resize_buffers_callback callback);
+        void set_on_execute_command_lists(execute_command_lists_callback callback);
+
+        [[nodiscard]] bool hook_wnd_proc(HWND hwnd);
+        void unhook_wnd_proc();
+        void set_on_wnd_proc(wnd_proc_callback callback);
+#endif // _WIN32
+
+    private:
+#ifdef _WIN32
+        [[nodiscard]]
+        static HRESULT __stdcall dx9_present_detour(IDirect3DDevice9* p_device, const RECT* p_source_rect,
+                                                    const RECT* p_dest_rect, HWND h_dest_window_override,
+                                                    const RGNDATA* p_dirty_region);
+        [[nodiscard]]
+        static HRESULT __stdcall dx9_reset_detour(IDirect3DDevice9* p_device,
+                                                  D3DPRESENT_PARAMETERS* p_presentation_parameters);
+        [[nodiscard]]
+        static HRESULT __stdcall dx9_end_scene_detour(IDirect3DDevice9* p_device);
+
+        [[nodiscard]]
+        static HRESULT __stdcall dx11_present_detour(IDXGISwapChain* p_swap_chain, UINT sync_interval, UINT flags);
+        [[nodiscard]]
+        static HRESULT __stdcall dx11_resize_buffers_detour(IDXGISwapChain* p_swap_chain, UINT buffer_count, UINT width,
+                                                            UINT height, DXGI_FORMAT new_format, UINT swap_chain_flags);
+        [[nodiscard]]
+        static HRESULT __stdcall dx12_present_detour(IDXGISwapChain* p_swap_chain, UINT sync_interval, UINT flags);
+        [[nodiscard]]
+        static HRESULT __stdcall dx12_resize_buffers_detour(IDXGISwapChain* p_swap_chain, UINT buffer_count, UINT width,
+                                                            UINT height, DXGI_FORMAT new_format, UINT swap_chain_flags);
+        static void __stdcall dx12_execute_command_lists_detour(ID3D12CommandQueue* p_command_queue,
+                                                                UINT num_command_lists,
+                                                                ID3D12CommandList* const* pp_command_lists);
+
+        [[nodiscard]]
+        static BOOL __stdcall opengl_wgl_swap_buffers_detour(HDC hdc);
+        [[nodiscard]]
+        static BOOL __stdcall opengl_swap_buffers_detour(HDC hdc);
+
+        [[nodiscard]]
+        static LRESULT __stdcall wnd_proc_detour(HWND hwnd, UINT msg, WPARAM w_param, LPARAM l_param);
+#endif // _WIN32
+
+#ifdef __linux__
+        static void opengl_glx_swap_buffers_detour(Display* display, GLXDrawable drawable);
+#endif // __linux__
+
+        mutable std::shared_mutex m_hook_state_mutex;
+
+#ifdef _WIN32
+        mutable std::shared_mutex m_dx9_present_mutex;
+        mutable std::shared_mutex m_dx9_reset_mutex;
+        mutable std::shared_mutex m_dx9_end_scene_mutex;
+
+        mutable std::shared_mutex m_present_mutex;
+        mutable std::shared_mutex m_resize_buffers_mutex;
+        mutable std::shared_mutex m_execute_command_lists_mutex;
+
+        mutable std::shared_mutex m_wnd_proc_mutex;
+#endif // _WIN32
+
+        mutable std::shared_mutex m_opengl_swap_buffers_mutex;
+
+#ifdef _WIN32
+        bool m_is_dx9_hooked = false;
+        bool m_is_dx11_hooked = false;
+        bool m_is_dx12_hooked = false;
+        bool m_is_wnd_proc_hooked = false;
+
+        HWND m_hooked_hwnd = nullptr;
+        WNDPROC m_original_wndproc = nullptr;
+
+        safetyhook::InlineHook m_dx9_present_hook;
+        safetyhook::InlineHook m_dx9_reset_hook;
+        safetyhook::InlineHook m_dx9_end_scene_hook;
+
+        safetyhook::InlineHook m_dx11_present_hook;
+        safetyhook::InlineHook m_dx11_resize_buffers_hook;
+
+        safetyhook::InlineHook m_dx12_present_hook;
+        safetyhook::InlineHook m_dx12_resize_buffers_hook;
+        safetyhook::InlineHook m_dx12_execute_command_lists_hook;
+
+        safetyhook::InlineHook m_opengl_wgl_swap_buffers_hook;
+        safetyhook::InlineHook m_opengl_swap_buffers_hook;
+#endif // _WIN32
+
+#ifdef __linux__
+        safetyhook::InlineHook m_opengl_glx_swap_buffers_hook;
+#endif // __linux__
+
+        bool m_is_opengl_hooked = false;
+
+#ifdef _WIN32
+        callback_ptr<dx9_present_callback> m_dx9_present_cb;
+        callback_ptr<dx9_reset_callback> m_dx9_reset_cb;
+        callback_ptr<dx9_end_scene_callback> m_dx9_end_scene_cb;
+
+        callback_ptr<present_callback> m_present_cb;
+        callback_ptr<resize_buffers_callback> m_resize_buffers_cb;
+        callback_ptr<execute_command_lists_callback> m_execute_command_lists_cb;
+
+        callback_ptr<wnd_proc_callback> m_wnd_proc_cb;
+#endif // _WIN32
+
+        callback_ptr<opengl_swap_buffers_callback> m_opengl_swap_buffers_cb;
+    };
+} // namespace omath::hooks
+
+#else // !OMATH_ENABLE_HOOKING
+
+namespace omath::hooks
+{
+    class HooksManager final
+    {
+        HooksManager() = default;
+
+    public:
+        [[nodiscard]] static HooksManager& get();
+        HooksManager(const HooksManager&) = delete;
+        ~HooksManager();
+    };
+} // namespace omath::hooks
+
+#endif

include/omath/hud/entity_overlay.hpp

@@ -20,9 +20,10 @@ namespace omath::hud
 
         // ── Boxes ────────────────────────────────────────────────────────
         EntityOverlay& add_2d_box(const Color& box_color, const Color& fill_color = Color{0.f, 0.f, 0.f, 0.f},
-                                  float thickness = 1.f);
+                                  const Color& outline_color = Color{0.f, 0.f, 0.f, 0.f}, float thickness = 1.f);
 
         EntityOverlay& add_cornered_2d_box(const Color& box_color, const Color& fill_color = Color{0.f, 0.f, 0.f, 0.f},
+                                           const Color& outline_color = Color{0.f, 0.f, 0.f, 0.f},
                                            float corner_ratio_len = 0.2f, float thickness = 1.f);
 
         EntityOverlay& add_dashed_box(const Color& color, float dash_len = 8.f, float gap_len = 5.f,

include/omath/hud/entity_overlay_widgets.hpp

@@ -26,6 +26,7 @@ namespace omath::hud::widget
     {
         Color color;
         Color fill{0.f, 0.f, 0.f, 0.f};
+        Color outline{0.f, 0.f, 0.f, 0.f};
         float thickness = 1.f;
     };
 
@@ -33,6 +34,7 @@ namespace omath::hud::widget
     {
         Color color;
         Color fill{0.f, 0.f, 0.f, 0.f};
+        Color outline{0.f, 0.f, 0.f, 0.f};
         float corner_ratio = 0.2f;
         float thickness = 1.f;
     };

include/omath/linear_algebra/mat.hpp

@@ -5,6 +5,7 @@
 #include "vector3.hpp"
 #include <algorithm>
 #include <array>
+#include <cmath>
 #include <iomanip>
 #include <numeric>
 #include <sstream>
@@ -58,7 +59,7 @@ namespace omath
             clear();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use store ordering")]]
         consteval static MatStoreType get_store_ordering() noexcept
         {
             return StoreType;
@@ -93,13 +94,13 @@ namespace omath
             m_data = other.m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr Type& operator[](const size_t row, const size_t col)
         {
             return at(row, col);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr const Type& operator[](const size_t row, const size_t col) const
         {
             return at(row, col);
@@ -110,25 +111,25 @@ namespace omath
             m_data = std::move(other.m_data);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use row count")]]
         static constexpr size_t row_count() noexcept
         {
             return Rows;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use column count")]]
         static constexpr size_t columns_count() noexcept
         {
             return Columns;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use matrix size")]]
-        static consteval MatSize size() noexcept
+        static constexpr MatSize size() noexcept
         {
             return {Rows, Columns};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr const Type& at(const size_t row_index, const size_t column_index) const
         {
 #if !defined(NDEBUG) && defined(OMATH_SUPRESS_SAFETY_CHECKS)
@@ -148,12 +149,12 @@ namespace omath
             }
         }
 
-        [[nodiscard]] 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));
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use sum of elements")]]
         constexpr Type sum() const noexcept
         {
             return std::accumulate(m_data.begin(), m_data.end(), static_cast<Type>(0));
@@ -170,7 +171,7 @@ namespace omath
         }
 
         // Operator overloading for multiplication with another Mat
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, StoreType>
         operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
         {
@@ -201,7 +202,7 @@ namespace omath
             return *this = *this * other;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result matrix")]]
         constexpr Mat operator*(const Type& value) const noexcept
         {
             Mat result(*this);
@@ -215,7 +216,7 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result matrix")]]
         constexpr Mat operator/(const Type& value) const noexcept
         {
             Mat result(*this);
@@ -239,7 +240,7 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use transposed matrix")]]
         constexpr Mat<Columns, Rows, Type, StoreType> transposed() const noexcept
         {
             Mat<Columns, Rows, Type, StoreType> transposed;
@@ -250,7 +251,7 @@ namespace omath
             return transposed;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use determinant")]]
         constexpr Type determinant() const
         {
             static_assert(Rows == Columns, "Determinant is only defined for square matrices.");
@@ -271,10 +272,11 @@ namespace omath
                 }
                 return det;
             }
+            else // For no reason MSVC triggers on it as unreachable code so we keep else here.
                 std::unreachable();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use stripped matrix")]]
         constexpr Mat<Rows - 1, Columns - 1, Type, StoreType> strip(const size_t row, const size_t column) const
         {
             static_assert(Rows - 1 > 0 && Columns - 1 > 0);
@@ -295,32 +297,32 @@ namespace omath
             return result;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use minor")]]
         constexpr Type minor(const size_t row, const size_t column) const
         {
             return strip(row, column).determinant();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use algebraic complement")]]
         constexpr Type alg_complement(const size_t row, const size_t column) const
         {
             const auto minor_value = minor(row, column);
             return (row + column + 2) % 2 == 0 ? minor_value : -minor_value;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use raw array")]]
         constexpr const std::array<Type, Rows * Columns>& raw_array() const
         {
             return m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use raw array")]]
         constexpr std::array<Type, Rows * Columns>& raw_array()
         {
             return m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use string representation")]]
         std::string to_string() const noexcept
         {
             std::ostringstream oss;
@@ -342,14 +344,14 @@ namespace omath
             return oss.str();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use wide string representation")]]
         std::wstring to_wstring() const noexcept
         {
             const auto ascii_string = to_string();
             return {ascii_string.cbegin(), ascii_string.cend()};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use UTF-8 string representation")]]
         // ReSharper disable once CppInconsistentNaming
         std::u8string to_u8string() const noexcept
         {
@@ -357,20 +359,20 @@ namespace omath
             return {ascii_string.cbegin(), ascii_string.cend()};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator==(const Mat& mat) const
         {
             return m_data == mat.m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator!=(const Mat& mat) const
         {
             return !operator==(mat);
         }
 
         // Static methods that return fixed-size matrices
-        [[nodiscard]]
+        [[nodiscard("You must use screen matrix")]]
         constexpr static Mat<4, 4> to_screen_mat(const Type& screen_width, const Type& screen_height) noexcept
         {
             return {
@@ -381,7 +383,7 @@ namespace omath
             };
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use inverted matrix")]]
         constexpr std::optional<Mat> inverted() const
         {
             const auto det = determinant();
@@ -404,7 +406,7 @@ namespace omath
     private:
         std::array<Type, Rows * Columns> m_data;
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
         cache_friendly_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
         {
@@ -419,7 +421,7 @@ namespace omath
             return result;
         }
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> cache_friendly_multiply_col_major(
                 const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
         {
@@ -434,7 +436,7 @@ namespace omath
             return result;
         }
 #ifdef OMATH_USE_AVX2
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>
         avx_multiply_col_major(const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
         {
@@ -504,7 +506,7 @@ namespace omath
             return result;
         }
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
         avx_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
         {
@@ -575,20 +577,20 @@ namespace omath
 #endif
     };
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
+    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
     {
         return {{vector.x, vector.y, vector.z, 1}};
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
+    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
     {
         return {{vector.x}, {vector.y}, {vector.z}, {1}};
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use translation matrix")]]
     constexpr Mat<4, 4, Type, St> mat_translation(const Vector3<Type>& diff) noexcept
     {
         return
@@ -600,7 +602,7 @@ namespace omath
         };
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use scale matrix")]]
     constexpr Mat<4, 4, Type, St> mat_scale(const Vector3<Type>& scale) noexcept
     {
         return {
@@ -611,8 +613,55 @@ namespace omath
         };
     }
 
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    [[nodiscard("You must use extracted origin")]]
+    constexpr Vector3<Type> mat_extract_origin(const Mat<4, 4, Type, St>& mat) noexcept
+    {
+        return {mat.at(0, 3), mat.at(1, 3), mat.at(2, 3)};
+    }
+
+    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
+    {
+        auto column_length = [](const Type x, const Type y, const Type z) {
+            return static_cast<Type>(std::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));
+        const auto scale_y = column_length(mat.at(0, 1), mat.at(1, 1), mat.at(2, 1));
+        const auto scale_z = column_length(mat.at(0, 2), mat.at(1, 2), mat.at(2, 2));
+
+        constexpr auto epsilon = std::numeric_limits<Type>::epsilon();
+
+        return {
+                std::abs(scale_x) < epsilon ? Type{1} : scale_x,
+                std::abs(scale_y) < epsilon ? Type{1} : scale_y,
+                std::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
+    {
+        const auto scale = mat_extract_scale(mat);
+        const auto m00 = mat.at(0, 0) / scale.x;
+        const auto m10 = mat.at(1, 0) / scale.x;
+        const auto m20 = mat.at(2, 0) / scale.x;
+        const auto m21 = mat.at(2, 1) / scale.y;
+        const auto m22 = mat.at(2, 2) / scale.z;
+
+        return {
+                angles::radians_to_degrees(std::atan2(m21, m22)),
+                angles::radians_to_degrees(std::asin(std::clamp(-m20, Type{-1}, Type{1}))),
+                angles::radians_to_degrees(std::atan2(m10, m00)),
+        };
+    }
+
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
     Mat<4, 4, Type, St> mat_rotation_axis_x(const Angle& angle) noexcept
     {
         return
@@ -625,7 +674,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
     Mat<4, 4, Type, St> mat_rotation_axis_y(const Angle& angle) noexcept
     {
         return
@@ -638,7 +687,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
     Mat<4, 4, Type, St> mat_rotation_axis_z(const Angle& angle) noexcept
     {
         return
@@ -651,7 +700,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use camera view matrix")]]
     static 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
     {
@@ -666,50 +715,103 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard]]
+    [[nodiscard("You must use perspective matrix")]]
-    Mat<4, 4, Type, St> mat_perspective_left_handed(const float field_of_view, const float aspect_ratio,
+    Mat<4, 4, Type, St> mat_perspective_left_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio,
-                                                    const float near, const float far) noexcept
+                                                    const Type near, const Type far) noexcept
     {
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
+        const auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
 
         if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
-            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0},                Type{0},             Type{0}},
-                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {Type{0},                                 Type{1} / fov_half_tan, Type{0},             Type{0}},
-                    {0.f, 0.f, far / (far - near), -(near * far) / (far - near)},
+                    {Type{0},                                 Type{0},                far / (far - near), -(near * far) / (far - near)},
-                    {0.f, 0.f, 1.f, 0.f}};
+                    {Type{0},                                 Type{0},                Type{1},            Type{0}}};
         else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0},                Type{0},                      Type{0}},
-                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {Type{0},                                 Type{1} / fov_half_tan, Type{0},                      Type{0}},
-                    {0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                    {Type{0},                                 Type{0},                (far + near) / (far - near), -(Type{2} * near * far) / (far - near)},
-                    {0.f, 0.f, 1.f, 0.f}};
+                    {Type{0},                                 Type{0},                Type{1},                     Type{0}}};
         else
             std::unreachable();
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard]]
+    [[nodiscard("You must use perspective matrix")]]
-    Mat<4, 4, Type, St> mat_perspective_right_handed(const float field_of_view, const float aspect_ratio,
+    Mat<4, 4, Type, St> mat_perspective_right_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio,
-                                                     const float near, const float far) noexcept
+                                                     const Type near, const Type far) noexcept
     {
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
+        const auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
 
         if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
-            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0},                Type{0},             Type{0}},
-                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {Type{0},                                 Type{1} / fov_half_tan, Type{0},             Type{0}},
-                    {0.f, 0.f, -far / (far - near), -(near * far) / (far - near)},
+                    {Type{0},                                 Type{0},                -far / (far - near), -(near * far) / (far - near)},
-                    {0.f, 0.f, -1.f, 0.f}};
+                    {Type{0},                                 Type{0},                -Type{1},            Type{0}}};
         else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0},                Type{0},                      Type{0}},
-                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {Type{0},                                 Type{1} / fov_half_tan, Type{0},                      Type{0}},
-                    {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                    {Type{0},                                 Type{0},                -(far + near) / (far - near), -(Type{2} * near * far) / (far - near)},
-                    {0.f, 0.f, -1.f, 0.f}};
+                    {Type{0},                                 Type{0},                -Type{1},                     Type{0}}};
+        else
+            std::unreachable();
+    }
+
+    // Horizontal-FOV variants — use these when the engine reports FOV as
+    // horizontal (UE's FMinimalViewInfo::FOV, Quake-family fov_x, etc.).
+    // 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")]]
+    Mat<4, 4, Type, St> mat_perspective_left_handed_horizontal_fov(const Type horizontal_fov,
+                                                                   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 x_axis = inv_tan_half_hfov;
+        const auto y_axis = inv_tan_half_hfov * aspect_ratio;
+
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{x_axis,     Type{0},    Type{0},             Type{0}},
+                    {Type{0},    y_axis,     Type{0},             Type{0}},
+                    {Type{0},    Type{0},    far / (far - near),  -(near * far) / (far - near)},
+                    {Type{0},    Type{0},    Type{1},             Type{0}}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{x_axis,  Type{0}, Type{0},                     Type{0}},
+                    {Type{0}, y_axis,  Type{0},                     Type{0}},
+                    {Type{0}, Type{0}, (far + near) / (far - near), -(Type{2} * near * far) / (far - near)},
+                    {Type{0}, Type{0}, Type{1},                     Type{0}}};
+        else
+            std::unreachable();
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
+    [[nodiscard("You must use perspective matrix")]]
+    Mat<4, 4, Type, St> mat_perspective_right_handed_horizontal_fov(const Type horizontal_fov,
+                                                                    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 x_axis = inv_tan_half_hfov;
+        const auto y_axis = inv_tan_half_hfov * aspect_ratio;
+
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{x_axis,  Type{0}, Type{0},             Type{0}},
+                    {Type{0}, y_axis,  Type{0},             Type{0}},
+                    {Type{0}, Type{0}, -far / (far - near), -(near * far) / (far - near)},
+                    {Type{0}, Type{0}, -Type{1},            Type{0}}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{x_axis,  Type{0}, Type{0},                      Type{0}},
+                    {Type{0}, y_axis,  Type{0},                      Type{0}},
+                    {Type{0}, Type{0}, -(far + near) / (far - near), -(Type{2} * near * far) / (far - near)},
+                    {Type{0}, Type{0}, -Type{1},                     Type{0}}};
         else
             std::unreachable();
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard]]
+    [[nodiscard("You must use ortho matrix")]]
     Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
                                               const Type near, const Type far) noexcept
     {
@@ -734,7 +836,7 @@ namespace omath
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard]]
+    [[nodiscard("You must use ortho matrix")]]
     Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top,
                                                const Type near, const Type far) noexcept
     {
@@ -781,14 +883,14 @@ template<size_t Rows, size_t Columns, class Type, omath::MatStoreType StoreType>
 struct std::formatter<omath::Mat<Rows, Columns, Type, StoreType>> // NOLINT(*-dcl58-cpp)
 {
     using MatType = omath::Mat<Rows, Columns, Type, StoreType>;
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
 
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const MatType& mat, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/linear_algebra/vector2.hpp

@@ -26,18 +26,24 @@ namespace omath
         // Constructors
         constexpr Vector2() = default;
 
+        template<class CastedType>
+        requires std::is_arithmetic_v<CastedType>
+        [[nodiscard("You must use casted vector")]] constexpr explicit operator Vector2<CastedType>() const noexcept
+        {
+            return {static_cast<CastedType>(x), static_cast<CastedType>(y)};
+        }
         constexpr Vector2(const Type& x, const Type& y) noexcept: x(x), y(y)
         {
         }
 
         // Equality operators
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         constexpr bool operator==(const Vector2& other) const noexcept
         {
             return x == other.x && y == other.y;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         constexpr bool operator!=(const Vector2& other) const noexcept
         {
             return !(*this == other);
@@ -109,45 +115,51 @@ namespace omath
         }
 
         // Basic vector operations
-        [[nodiscard]] Type distance_to(const Vector2& other) const noexcept
+        [[nodiscard("You must use distance")]]
+        Type distance_to(const Vector2& other) const noexcept
         {
             return std::sqrt(distance_to_sqr(other));
         }
 
-        [[nodiscard]] constexpr Type distance_to_sqr(const Vector2& other) const noexcept
+        [[nodiscard("You must use squared distance")]]
+        constexpr Type distance_to_sqr(const Vector2& other) const noexcept
         {
             return (x - other.x) * (x - other.x) + (y - other.y) * (y - other.y);
         }
 
-        [[nodiscard]] constexpr Type dot(const Vector2& other) const noexcept
+        [[nodiscard("You must use dot product")]]
+        constexpr Type dot(const Vector2& other) const noexcept
         {
             return x * other.x + y * other.y;
         }
 
 #ifndef _MSC_VER
-        [[nodiscard]] constexpr Type length() const noexcept
+        [[nodiscard("You must use length")]] constexpr Type length() const noexcept
         {
             return std::hypot(this->x, this->y);
         }
 
-        [[nodiscard]] constexpr Vector2 normalized() const noexcept
+        [[nodiscard("You must use normalized vector")]] constexpr Vector2 normalized() const noexcept
         {
             const Type len = length();
             return len > 0.f ? *this / len : *this;
         }
 #else
-        [[nodiscard]] Type length() const noexcept
+        [[nodiscard("You must use length")]]
+        Type length() const noexcept
         {
             return std::hypot(x, y);
         }
 
-        [[nodiscard]] Vector2 normalized() const noexcept
+        [[nodiscard("You must use normalized vector")]]
+        Vector2 normalized() const noexcept
         {
             const Type len = length();
             return len > static_cast<Type>(0) ? *this / len : *this;
         }
 #endif
-        [[nodiscard]] constexpr Type length_sqr() const noexcept
+        [[nodiscard("You must use squared length")]]
+        constexpr Type length_sqr() const noexcept
         {
             return x * x + y * y;
         }
@@ -159,80 +171,91 @@ namespace omath
             y = y < static_cast<Type>(0) ? -y : y;
             return *this;
         }
+        [[nodiscard("You must use absed vector")]]
+        constexpr Vector2 abs() const noexcept
+        {
+            return Vector2{*this}.abs();
+        }
 
-        [[nodiscard]] constexpr Vector2 operator-() const noexcept
+        [[nodiscard("You must use negated vector")]]
+        constexpr Vector2 operator-() const noexcept
         {
             return {-x, -y};
         }
 
         // Binary arithmetic operators
-        [[nodiscard]] constexpr Vector2 operator+(const Vector2& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector2 operator+(const Vector2& other) const noexcept
         {
             return {x + other.x, y + other.y};
         }
 
-        [[nodiscard]] constexpr Vector2 operator-(const Vector2& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector2 operator-(const Vector2& other) const noexcept
         {
             return {x - other.x, y - other.y};
         }
 
-        [[nodiscard]] constexpr Vector2 operator*(const Type& value) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector2 operator*(const Type& value) const noexcept
         {
             return {x * value, y * value};
         }
 
-        [[nodiscard]] constexpr Vector2 operator/(const Type& value) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector2 operator/(const Type& value) const noexcept
         {
             return {x / value, y / value};
         }
 
         // Sum of elements
-        [[nodiscard]] constexpr Type sum() const noexcept
+        [[nodiscard("You must use sum of elements")]]
+        constexpr Type sum() const noexcept
         {
             return x + y;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<(const Vector2& other) const noexcept
         {
             return length() < other.length();
         }
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>(const Vector2& other) const noexcept
         {
             return length() > other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<=(const Vector2& other) const noexcept
         {
             return length() <= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>=(const Vector2& other) const noexcept
         {
             return length() >= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use tuple")]]
         constexpr std::tuple<Type, Type> as_tuple() const noexcept
         {
             return std::make_tuple(x, y);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use array")]]
         constexpr std::array<Type, 2> as_array() const noexcept
         {
             return {x, y};
         }
 #ifdef OMATH_IMGUI_INTEGRATION
-        [[nodiscard]]
+        [[nodiscard("You must use ImVec2")]]
         constexpr ImVec2 to_im_vec2() const noexcept
         {
             return {static_cast<float>(this->x), static_cast<float>(this->y)};
         }
-        [[nodiscard]]
+        [[nodiscard("You must use vector from ImVec2")]]
         static Vector2 from_im_vec2(const ImVec2& other) noexcept
         {
             return {static_cast<Type>(other.x), static_cast<Type>(other.y)};
@@ -243,7 +266,7 @@ namespace omath
 
 template<> struct std::hash<omath::Vector2<float>>
 {
-    [[nodiscard]]
+    [[nodiscard("You must use hash value")]]
     std::size_t operator()(const omath::Vector2<float>& vec) const noexcept
     {
         std::size_t hash = 0;
@@ -259,14 +282,14 @@ template<> struct std::hash<omath::Vector2<float>>
 template<class Type>
 struct std::formatter<omath::Vector2<Type>> // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
 
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const omath::Vector2<Type>& vec, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/linear_algebra/vector3.hpp

@@ -30,12 +30,22 @@ namespace omath
         }
         constexpr Vector3() noexcept: Vector2<Type>() {};
 
-        [[nodiscard]] constexpr bool operator==(const Vector3& other) const noexcept
+        template<class CastedType>
+        requires std::is_arithmetic_v<CastedType>
+        [[nodiscard("You must use casted vector")]]
+        constexpr explicit operator Vector3<CastedType>() const noexcept
+        {
+            return {static_cast<CastedType>(this->x), static_cast<CastedType>(this->y),
+                    static_cast<CastedType>(this->z)};
+        }
+        [[nodiscard("You must use comparison result")]]
+        constexpr bool operator==(const Vector3& other) const noexcept
         {
             return Vector2<Type>::operator==(other) && (other.z == z);
         }
 
-        [[nodiscard]] constexpr bool operator!=(const Vector3& other) const noexcept
+        [[nodiscard("You must use comparison result")]]
+        constexpr bool operator!=(const Vector3& other) const noexcept
         {
             return !(*this == other);
         }
@@ -111,118 +121,140 @@ namespace omath
 
             return *this;
         }
+        [[nodiscard("You must use absed vector")]]
+        constexpr Vector3 abs() const noexcept
+        {
+            return Vector3{*this}.abs();
+        }
 
-        [[nodiscard]] constexpr Type distance_to_sqr(const Vector3& other) const noexcept
+        [[nodiscard("You must use squared distance")]]
+        constexpr Type distance_to_sqr(const Vector3& other) const noexcept
         {
             return (*this - other).length_sqr();
         }
 
-        [[nodiscard]] constexpr Type dot(const Vector3& other) const noexcept
+        [[nodiscard("You must use dot product")]]
+        constexpr Type dot(const Vector3& other) const noexcept
         {
             return Vector2<Type>::dot(other) + z * other.z;
         }
 
 #ifndef _MSC_VER
-        [[nodiscard]] constexpr Type length() const
+        [[nodiscard("You must use length")]] constexpr Type length() const
         {
             return std::hypot(this->x, this->y, z);
         }
 
-        [[nodiscard]] constexpr Type length_2d() const
+        [[nodiscard("You must use 2D length")]] constexpr Type length_2d() const
         {
             return Vector2<Type>::length();
         }
-        [[nodiscard]] Type distance_to(const Vector3& other) const
+        [[nodiscard("You must use distance")]] Type distance_to(const Vector3& other) const
         {
             return (*this - other).length();
         }
-        [[nodiscard]] constexpr Vector3 normalized() const
+        [[nodiscard("You must use normalized vector")]] constexpr Vector3 normalized() const
         {
             const Type length_value = this->length();
 
             return length_value != 0 ? *this / length_value : *this;
         }
 #else
-        [[nodiscard]] Type length() const noexcept
+        [[nodiscard("You must use length")]]
+        Type length() const noexcept
         {
             return std::hypot(this->x, this->y, z);
         }
 
-        [[nodiscard]] Vector3 normalized() const noexcept
+        [[nodiscard("You must use normalized vector")]]
+        Vector3 normalized() const noexcept
         {
             const Type len = this->length();
 
             return len != static_cast<Type>(0) ? *this / len : *this;
         }
 
-        [[nodiscard]] Type length_2d() const noexcept
+        [[nodiscard("You must use 2D length")]]
+        Type length_2d() const noexcept
         {
             return Vector2<Type>::length();
         }
 
-        [[nodiscard]] Type distance_to(const Vector3& v_other) const noexcept
+        [[nodiscard("You must use distance")]]
+        Type distance_to(const Vector3& v_other) const noexcept
         {
             return (*this - v_other).length();
         }
 #endif
 
-        [[nodiscard]] constexpr Type length_sqr() const noexcept
+        [[nodiscard("You must use squared length")]]
+        constexpr Type length_sqr() const noexcept
         {
             return Vector2<Type>::length_sqr() + z * z;
         }
 
-        [[nodiscard]] constexpr Vector3 operator-() const noexcept
+        [[nodiscard("You must use negated vector")]]
+        constexpr Vector3 operator-() const noexcept
         {
             return {-this->x, -this->y, -z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator+(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator+(const Vector3& other) const noexcept
         {
             return {this->x + other.x, this->y + other.y, z + other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator-(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator-(const Vector3& other) const noexcept
         {
             return {this->x - other.x, this->y - other.y, z - other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator*(const Type& value) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator*(const Type& value) const noexcept
         {
             return {this->x * value, this->y * value, z * value};
         }
 
-        [[nodiscard]] constexpr Vector3 operator*(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator*(const Vector3& other) const noexcept
         {
             return {this->x * other.x, this->y * other.y, z * other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator/(const Type& value) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator/(const Type& value) const noexcept
         {
             return {this->x / value, this->y / value, z / value};
         }
 
-        [[nodiscard]] constexpr Vector3 operator/(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator/(const Vector3& other) const noexcept
         {
             return {this->x / other.x, this->y / other.y, z / other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 cross(const Vector3& other) const noexcept
+        [[nodiscard("You must use cross product")]]
+        constexpr Vector3 cross(const Vector3& other) const noexcept
         {
             return {this->y * other.z - z * other.y, z * other.x - this->x * other.z,
                     this->x * other.y - this->y * other.x};
         }
 
-        [[nodiscard]] constexpr Type sum() const noexcept
+        [[nodiscard("You must use sum of elements")]]
+        constexpr Type sum() const noexcept
         {
             return sum_2d() + z;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use direction check result")]]
         bool point_to_same_direction(const Vector3& other) const
         {
             return dot(other) > static_cast<Type>(0);
         }
-        [[nodiscard]] std::expected<Angle<float, 0.f, 180.f, AngleFlags::Clamped>, Vector3Error>
+        [[nodiscard("You must use angle between vectors")]]
+        std::expected<Angle<float, 0.f, 180.f, AngleFlags::Clamped>, Vector3Error>
         angle_between(const Vector3& other) const noexcept
         {
             const auto bottom = length() * other.length();
@@ -233,8 +265,8 @@ namespace omath
             return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::from_radians(std::acos(dot(other) / bottom));
         }
 
-        [[nodiscard]] bool is_perpendicular(const Vector3& other,
+        [[nodiscard("You must use perpendicularity check result")]]
-                                            Type epsilon = static_cast<Type>(0.0001)) const noexcept
+        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;
@@ -242,41 +274,43 @@ namespace omath
             return false;
         }
 
-        [[nodiscard]] constexpr Type sum_2d() const noexcept
+        [[nodiscard("You must use 2D sum")]]
+        constexpr Type sum_2d() const noexcept
         {
             return Vector2<Type>::sum();
         }
 
-        [[nodiscard]] constexpr std::tuple<Type, Type, Type> as_tuple() const noexcept
+        [[nodiscard("You must use tuple")]]
+        constexpr std::tuple<Type, Type, Type> as_tuple() const noexcept
         {
             return std::make_tuple(this->x, this->y, z);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<(const Vector3& other) const noexcept
         {
             return length() < other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>(const Vector3& other) const noexcept
         {
             return length() > other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<=(const Vector3& other) const noexcept
         {
             return length() <= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>=(const Vector3& other) const noexcept
         {
             return length() >= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use array")]]
         constexpr std::array<Type, 3> as_array() const noexcept
         {
             return {this->x, this->y, z};
@@ -286,7 +320,7 @@ namespace omath
 
 template<> struct std::hash<omath::Vector3<float>>
 {
-    [[nodiscard]]
+    [[nodiscard("You must use hash value")]]
     std::size_t operator()(const omath::Vector3<float>& vec) const noexcept
     {
         std::size_t hash = 0;
@@ -303,14 +337,14 @@ template<> struct std::hash<omath::Vector3<float>>
 template<class Type>
 struct std::formatter<omath::Vector3<Type>> // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
 
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const omath::Vector3<Type>& vec, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/linear_algebra/vector4.hpp

@@ -21,13 +21,22 @@ namespace omath
         }
         constexpr Vector4() noexcept: Vector3<Type>(), w(static_cast<Type>(0)) {};
 
-        [[nodiscard]]
+
+        template<class CastedType>
+        requires std::is_arithmetic_v<CastedType>
+        [[nodiscard("You must use casted vector")]] constexpr explicit operator Vector4<CastedType>() const noexcept
+        {
+            return {static_cast<CastedType>(this->x), static_cast<CastedType>(this->y),
+                    static_cast<CastedType>(this->z), static_cast<CastedType>(this->w)};
+        }
+
+        [[nodiscard("You must use comparison result")]]
         constexpr bool operator==(const Vector4& other) const noexcept
         {
             return Vector3<Type>::operator==(other) && w == other.w;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         constexpr bool operator!=(const Vector4& other) const noexcept
         {
             return !(*this == other);
@@ -80,17 +89,19 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]] constexpr Type length_sqr() const noexcept
+        [[nodiscard("You must use squared length")]]
+        constexpr Type length_sqr() const noexcept
         {
             return Vector3<Type>::length_sqr() + w * w;
         }
 
-        [[nodiscard]] constexpr Type dot(const Vector4& other) const noexcept
+        [[nodiscard("You must use dot product")]]
+        constexpr Type dot(const Vector4& other) const noexcept
         {
             return Vector3<Type>::dot(other) + w * other.w;
         }
 
-        [[nodiscard]] Type length() const noexcept
+        [[nodiscard("You must use length")]] Type length() const noexcept
         {
             return std::sqrt(length_sqr());
         }
@@ -102,6 +113,11 @@ namespace omath
 
             return *this;
         }
+        [[nodiscard("You must use absed vector")]]
+        constexpr Vector4 abs() const noexcept
+        {
+            return Vector4{*this}.abs();
+        }
         constexpr Vector4& clamp(const Type& min, const Type& max) noexcept
         {
             this->x = std::clamp(this->x, min, max);
@@ -111,86 +127,86 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use negated vector")]]
         constexpr Vector4 operator-() const noexcept
         {
             return {-this->x, -this->y, -this->z, -w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator+(const Vector4& other) const noexcept
         {
             return {this->x + other.x, this->y + other.y, this->z + other.z, w + other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator-(const Vector4& other) const noexcept
         {
             return {this->x - other.x, this->y - other.y, this->z - other.z, w - other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator*(const Type& value) const noexcept
         {
             return {this->x * value, this->y * value, this->z * value, w * value};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator*(const Vector4& other) const noexcept
         {
             return {this->x * other.x, this->y * other.y, this->z * other.z, w * other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator/(const Type& value) const noexcept
         {
             return {this->x / value, this->y / value, this->z / value, w / value};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator/(const Vector4& other) const noexcept
         {
             return {this->x / other.x, this->y / other.y, this->z / other.z, w / other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use sum of elements")]]
         constexpr Type sum() const noexcept
         {
             return Vector3<Type>::sum() + w;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<(const Vector4& other) const noexcept
         {
             return length() < other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>(const Vector4& other) const noexcept
         {
             return length() > other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<=(const Vector4& other) const noexcept
         {
             return length() <= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>=(const Vector4& other) const noexcept
         {
             return length() >= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use array")]]
         constexpr std::array<Type, 4> as_array() const noexcept
         {
             return {this->x, this->y, this->z, w};
         }
 
 #ifdef OMATH_IMGUI_INTEGRATION
-        [[nodiscard]]
+        [[nodiscard("You must use ImVec4")]]
         constexpr ImVec4 to_im_vec4() const noexcept
         {
             return {
@@ -200,7 +216,7 @@ namespace omath
                     static_cast<float>(w),
             };
         }
-        [[nodiscard]]
+        [[nodiscard("You must use vector from ImVec4")]]
         static Vector4<float> from_im_vec4(const ImVec4& other) noexcept
         {
             return {static_cast<Type>(other.x), static_cast<Type>(other.y), static_cast<Type>(other.z)};
@@ -211,7 +227,7 @@ namespace omath
 
 template<> struct std::hash<omath::Vector4<float>>
 {
-    [[nodiscard]]
+    [[nodiscard("You must use hash value")]]
     std::size_t operator()(const omath::Vector4<float>& vec) const noexcept
     {
         std::size_t hash = 0;
@@ -228,13 +244,13 @@ template<> struct std::hash<omath::Vector4<float>>
 template<class Type>
 struct std::formatter<omath::Vector4<Type>> // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const omath::Vector4<Type>& vec, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/lua/lua.hpp

@@ -15,8 +15,13 @@ namespace omath::lua
         static void register_vec2(sol::table& omath_table);
         static void register_vec3(sol::table& omath_table);
         static void register_vec4(sol::table& omath_table);
+        static void register_matrices(sol::table& omath_table);
+        static void register_quaternion(sol::table& omath_table);
         static void register_color(sol::table& omath_table);
+        static void register_hud(sol::table& omath_table);
         static void register_triangle(sol::table& omath_table);
+        static void register_3d_primitives(sol::table& omath_table);
+        static void register_collision(sol::table& omath_table);
         static void register_shared_types(sol::table& omath_table);
         static void register_engines(sol::table& omath_table);
         static void register_pattern_scan(sol::table& omath_table);

include/omath/pathfinding/walk_bot.hpp

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

include/omath/projectile_prediction/proj_pred_engine.hpp

@@ -8,22 +8,24 @@
 
 namespace omath::projectile_prediction
 {
+    template<class ArithmeticType = float>
     struct AimAngles
     {
-        float pitch{};
+        ArithmeticType pitch{};
-        float yaw{};
+        ArithmeticType yaw{};
     };
 
+    template<class ArithmeticType = float>
     class ProjPredEngineInterface
     {
     public:
         [[nodiscard]]
-        virtual std::optional<Vector3<float>> maybe_calculate_aim_point(const Projectile& projectile,
+        virtual std::optional<Vector3<ArithmeticType>> maybe_calculate_aim_point(
-                                                                        const Target& target) const = 0;
+            const Projectile<ArithmeticType>& projectile, const Target<ArithmeticType>& target) const = 0;
 
         [[nodiscard]]
-        virtual std::optional<AimAngles> maybe_calculate_aim_angles(const Projectile& projectile,
+        virtual std::optional<AimAngles<ArithmeticType>> maybe_calculate_aim_angles(
-                                                                     const Target& target) const = 0;
+            const Projectile<ArithmeticType>& projectile, const Target<ArithmeticType>& target) const = 0;
 
         virtual ~ProjPredEngineInterface() = default;
     };

include/omath/projectile_prediction/proj_pred_engine_avx2.hpp

@@ -6,14 +6,14 @@
 
 namespace omath::projectile_prediction
 {
-    class ProjPredEngineAvx2 final : public ProjPredEngineInterface
+    class ProjPredEngineAvx2 final : public ProjPredEngineInterface<float>
     {
     public:
         [[nodiscard]] std::optional<Vector3<float>>
-        maybe_calculate_aim_point(const Projectile& projectile, const Target& target) const override;
+        maybe_calculate_aim_point(const Projectile<float>& projectile, const Target<float>& target) const override;
 
-        [[nodiscard]] std::optional<AimAngles>
+        [[nodiscard]] std::optional<AimAngles<float>>
-        maybe_calculate_aim_angles(const Projectile& projectile, const Target& target) const override;
+        maybe_calculate_aim_angles(const Projectile<float>& projectile, const Target<float>& target) const override;
 
         ProjPredEngineAvx2(float gravity_constant, float simulation_time_step, float maximum_simulation_time);
         ~ProjPredEngineAvx2() override = default;

include/omath/projectile_prediction/proj_pred_engine_legacy.hpp

@@ -13,24 +13,23 @@
 
 namespace omath::projectile_prediction
 {
-    template<class T>
+    template<class T, class ArithmeticType>
     concept PredEngineConcept =
-            requires(const Projectile& projectile, const Target& target, const Vector3<float>& vec_a,
+            requires(const Projectile<ArithmeticType>& projectile, const Target<ArithmeticType>& target,
-                     const Vector3<float>& vec_b,
+                     const Vector3<ArithmeticType>& vec_a, const Vector3<ArithmeticType>& vec_b,
-                     Vector3<float> v3, // by-value for calc_viewpoint_from_angles
+                     Vector3<ArithmeticType> v3,
-                     float pitch, float yaw, float time, float gravity, std::optional<float> maybe_pitch) {
+                     ArithmeticType pitch, ArithmeticType yaw, ArithmeticType time, ArithmeticType gravity,
-                // Presence + return types
+                     std::optional<ArithmeticType> maybe_pitch) {
                 {
                     T::predict_projectile_position(projectile, pitch, yaw, time, gravity)
-                } -> std::same_as<Vector3<float>>;
+                } -> std::same_as<Vector3<ArithmeticType>>;
-                { T::predict_target_position(target, time, gravity) } -> std::same_as<Vector3<float>>;
+                { T::predict_target_position(target, time, gravity) } -> std::same_as<Vector3<ArithmeticType>>;
-                { T::calc_vector_2d_distance(vec_a) } -> std::same_as<float>;
+                { T::calc_vector_2d_distance(vec_a) } -> std::same_as<ArithmeticType>;
-                { T::get_vector_height_coordinate(vec_b) } -> std::same_as<float>;
+                { T::get_vector_height_coordinate(vec_b) } -> std::same_as<ArithmeticType>;
-                { T::calc_viewpoint_from_angles(projectile, v3, maybe_pitch) } -> std::same_as<Vector3<float>>;
+                { T::calc_viewpoint_from_angles(projectile, v3, maybe_pitch) } -> std::same_as<Vector3<ArithmeticType>>;
-                { T::calc_direct_pitch_angle(vec_a, vec_b) } -> std::same_as<float>;
+                { T::calc_direct_pitch_angle(vec_a, vec_b) } -> std::same_as<ArithmeticType>;
-                { T::calc_direct_yaw_angle(vec_a, vec_b) } -> std::same_as<float>;
+                { T::calc_direct_yaw_angle(vec_a, vec_b) } -> std::same_as<ArithmeticType>;
 
-                // Enforce noexcept as in PredEngineTrait
                 requires noexcept(T::predict_projectile_position(projectile, pitch, yaw, time, gravity));
                 requires noexcept(T::predict_target_position(target, time, gravity));
                 requires noexcept(T::calc_vector_2d_distance(vec_a));
@@ -39,21 +38,24 @@ namespace omath::projectile_prediction
                 requires noexcept(T::calc_direct_pitch_angle(vec_a, vec_b));
                 requires noexcept(T::calc_direct_yaw_angle(vec_a, vec_b));
             };
-    template<class EngineTrait = source_engine::PredEngineTrait>
+
-    requires PredEngineConcept<EngineTrait>
+    template<class EngineTrait = source_engine::PredEngineTrait, class ArithmeticType = float>
-    class ProjPredEngineLegacy final : public ProjPredEngineInterface
+    requires PredEngineConcept<EngineTrait, ArithmeticType>
+    class ProjPredEngineLegacy final : public ProjPredEngineInterface<ArithmeticType>
     {
     public:
-        explicit ProjPredEngineLegacy(const float gravity_constant, const float simulation_time_step,
+        explicit ProjPredEngineLegacy(const ArithmeticType gravity_constant,
-                                      const float maximum_simulation_time, const float distance_tolerance)
+                                      const ArithmeticType simulation_time_step,
+                                      const ArithmeticType maximum_simulation_time,
+                                      const ArithmeticType distance_tolerance)
             : m_gravity_constant(gravity_constant), m_simulation_time_step(simulation_time_step),
               m_maximum_simulation_time(maximum_simulation_time), m_distance_tolerance(distance_tolerance)
         {
         }
 
         [[nodiscard]]
-        std::optional<Vector3<float>> maybe_calculate_aim_point(const Projectile& projectile,
+        std::optional<Vector3<ArithmeticType>> maybe_calculate_aim_point(
-                                                                const Target& target) const override
+            const Projectile<ArithmeticType>& projectile, const Target<ArithmeticType>& target) const override
         {
             const auto solution = find_solution(projectile, target);
             if (!solution)
@@ -64,28 +66,31 @@ namespace omath::projectile_prediction
         }
 
         [[nodiscard]]
-        std::optional<AimAngles> maybe_calculate_aim_angles(const Projectile& projectile,
+        std::optional<AimAngles<ArithmeticType>> maybe_calculate_aim_angles(
-                                                             const Target& target) const override
+            const Projectile<ArithmeticType>& projectile, const Target<ArithmeticType>& target) const override
         {
             const auto solution = find_solution(projectile, target);
             if (!solution)
                 return std::nullopt;
 
-            const auto yaw = EngineTrait::calc_direct_yaw_angle(projectile.m_origin + projectile.m_launch_offset, solution->predicted_target_position);
+            const auto yaw = EngineTrait::calc_direct_yaw_angle(
-            return AimAngles{solution->pitch, yaw};
+                projectile.m_origin + projectile.m_launch_offset, solution->predicted_target_position);
+            return AimAngles<ArithmeticType>{solution->pitch, yaw};
         }
 
     private:
         struct Solution
         {
-            Vector3<float> predicted_target_position;
+            Vector3<ArithmeticType> predicted_target_position;
-            float pitch;
+            ArithmeticType pitch;
         };
 
         [[nodiscard]]
-        std::optional<Solution> find_solution(const Projectile& projectile, const Target& target) const
+        std::optional<Solution> find_solution(const Projectile<ArithmeticType>& projectile,
+                                              const Target<ArithmeticType>& target) const
         {
-            for (float time = 0.f; time < m_maximum_simulation_time; time += m_simulation_time_step)
+            for (ArithmeticType time = ArithmeticType{0}; time < m_maximum_simulation_time;
+                 time += m_simulation_time_step)
             {
                 const auto predicted_target_position =
                         EngineTrait::predict_target_position(target, time, m_gravity_constant);
@@ -105,10 +110,10 @@ namespace omath::projectile_prediction
             return std::nullopt;
         }
 
-        const float m_gravity_constant;
+        const ArithmeticType m_gravity_constant;
-        const float m_simulation_time_step;
+        const ArithmeticType m_simulation_time_step;
-        const float m_maximum_simulation_time;
+        const ArithmeticType m_maximum_simulation_time;
-        const float m_distance_tolerance;
+        const ArithmeticType m_distance_tolerance;
 
         // Realization of this formula:
         // https://stackoverflow.com/questions/54917375/how-to-calculate-the-angle-to-shoot-a-bullet-in-order-to-hit-a-moving-target
@@ -123,15 +128,15 @@ namespace omath::projectile_prediction
        \]
         */
         [[nodiscard]]
-        std::optional<float>
+        std::optional<ArithmeticType>
-        maybe_calculate_projectile_launch_pitch_angle(const Projectile& projectile,
+        maybe_calculate_projectile_launch_pitch_angle(const Projectile<ArithmeticType>& projectile,
-                                                      const Vector3<float>& target_position) const noexcept
+                                                      const Vector3<ArithmeticType>& target_position) const noexcept
         {
             const auto bullet_gravity = m_gravity_constant * projectile.m_gravity_scale;
 
             const auto launch_origin = projectile.m_origin + projectile.m_launch_offset;
 
-            if (bullet_gravity == 0.f)
+            if (bullet_gravity == ArithmeticType{0})
                 return EngineTrait::calc_direct_pitch_angle(launch_origin, target_position);
 
             const auto delta = target_position - launch_origin;
@@ -140,24 +145,28 @@ namespace omath::projectile_prediction
             const auto distance2d_sqr = distance2d * distance2d;
             const auto launch_speed_sqr = projectile.m_launch_speed * projectile.m_launch_speed;
 
-            float root = launch_speed_sqr * launch_speed_sqr
+            ArithmeticType root = launch_speed_sqr * launch_speed_sqr
                                   - bullet_gravity
                                             * (bullet_gravity * distance2d_sqr
-                                      + 2.0f * EngineTrait::get_vector_height_coordinate(delta) * launch_speed_sqr);
+                                               + ArithmeticType{2} * EngineTrait::get_vector_height_coordinate(delta)
+                                                         * launch_speed_sqr);
 
-            if (root < 0.0f) [[unlikely]]
+            if (root < ArithmeticType{0}) [[unlikely]]
                 return std::nullopt;
 
             root = std::sqrt(root);
-            const float angle = std::atan((launch_speed_sqr - root) / (bullet_gravity * distance2d));
+            const ArithmeticType angle = std::atan((launch_speed_sqr - root) / (bullet_gravity * distance2d));
 
             return angles::radians_to_degrees(angle);
         }
+
         [[nodiscard]]
-        bool is_projectile_reached_target(const Vector3<float>& target_position, const Projectile& projectile,
+        bool is_projectile_reached_target(const Vector3<ArithmeticType>& target_position,
-                                          const float pitch, const float time) const noexcept
+                                          const Projectile<ArithmeticType>& projectile,
+                                          const ArithmeticType pitch, const ArithmeticType time) const noexcept
         {
-            const auto yaw = EngineTrait::calc_direct_yaw_angle(projectile.m_origin + projectile.m_launch_offset, target_position);
+            const auto yaw = EngineTrait::calc_direct_yaw_angle(
+                projectile.m_origin + projectile.m_launch_offset, target_position);
             const auto projectile_position =
                     EngineTrait::predict_projectile_position(projectile, pitch, yaw, time, m_gravity_constant);
 

include/omath/projectile_prediction/projectile.hpp

@@ -7,12 +7,13 @@
 
 namespace omath::projectile_prediction
 {
+    template <class ArithmeticType = float>
     class Projectile final
     {
     public:
-        Vector3<float> m_origin;
+        Vector3<ArithmeticType> m_origin;
-        Vector3<float> m_launch_offset{0.f, 0.f, 0.f};
+        Vector3<ArithmeticType> m_launch_offset{};
-        float m_launch_speed{};
+        ArithmeticType m_launch_speed{};
-        float m_gravity_scale{};
+        ArithmeticType m_gravity_scale{};
     };
 } // namespace omath::projectile_prediction

include/omath/projectile_prediction/target.hpp

@@ -7,11 +7,12 @@
 
 namespace omath::projectile_prediction
 {
+    template <class ArithmeticType = float>
     class Target final
     {
     public:
-        Vector3<float> m_origin;
+        Vector3<ArithmeticType> m_origin;
-        Vector3<float> m_velocity;
+        Vector3<ArithmeticType> m_velocity;
         bool m_is_airborne{};
     };
 } // namespace omath::projectile_prediction

include/omath/projection/camera.hpp

@@ -5,6 +5,7 @@
 #pragma once
 
 #include "omath/3d_primitives/aabb.hpp"
+#include "omath/3d_primitives/obb.hpp"
 #include "omath/linear_algebra/mat.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
@@ -31,7 +32,7 @@ namespace omath::projection
         float m_width;
         float m_height;
 
-        [[nodiscard]] constexpr float aspect_ratio() const
+        [[nodiscard("You must use aspect ratio")]] constexpr float aspect_ratio() const
         {
             return m_width / m_height;
         }
@@ -42,25 +43,32 @@ namespace omath::projection
         AUTO,
         MANUAL,
     };
-    template<class T, class MatType, class ViewAnglesType>
+    struct CameraAxes
+    {
+        bool inverted_forward = false;
+        bool inverted_right = false;
+    };
+
+    template<class T, class MatType, class ViewAnglesType, class NumericType>
     concept CameraEngineConcept =
-            requires(const Vector3<float>& cam_origin, const Vector3<float>& look_at, const ViewAnglesType& angles,
+            requires(const Vector3<NumericType>& cam_origin, const Vector3<NumericType>& look_at,
-                     const FieldOfView& fov, const ViewPort& viewport, float znear, float zfar,
+                     const ViewAnglesType& angles, const FieldOfView& fov, const ViewPort& viewport, NumericType z_near,
-                     NDCDepthRange ndc_depth_range) {
+                     NumericType z_far, NDCDepthRange ndc_depth_range) {
                 // Presence + return types
                 { T::calc_look_at_angle(cam_origin, look_at) } -> std::same_as<ViewAnglesType>;
                 { T::calc_view_matrix(angles, cam_origin) } -> std::same_as<MatType>;
-                { T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range) } -> std::same_as<MatType>;
+                { T::calc_projection_matrix(fov, viewport, z_near, z_far, ndc_depth_range) } -> std::same_as<MatType>;
-
+                requires std::is_floating_point_v<NumericType>;
                 // Enforce noexcept as in the trait declaration
                 requires noexcept(T::calc_look_at_angle(cam_origin, look_at));
                 requires noexcept(T::calc_view_matrix(angles, cam_origin));
-                requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range));
+                requires noexcept(T::calc_projection_matrix(fov, viewport, z_near, z_far, ndc_depth_range));
             };
 
-    template<class Mat4X4Type, class ViewAnglesType, class TraitClass, bool inverted_z = false,
+    template<class Mat4X4Type, class ViewAnglesType, class TraitClass,
-             NDCDepthRange depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
+             NDCDepthRange depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE, CameraAxes axes = {},
-    requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType>
+             class NumericType = float>
+    requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType, NumericType>
     class Camera final
     {
 #ifdef OMATH_BUILD_TESTS
@@ -76,50 +84,114 @@ namespace omath::projection
         };
 
         ~Camera() = default;
-        Camera(const Vector3<float>& position, const ViewAnglesType& view_angles, const ViewPort& view_port,
+        Camera(const Vector3<NumericType>& position, const ViewAnglesType& view_angles, const ViewPort& view_port,
-               const FieldOfView& fov, const float near, const float far) noexcept
+               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)
         {
         }
 
-        void look_at(const Vector3<float>& target)
+        struct ProjectionParams final
+        {
+            FieldOfView fov;
+            NumericType aspect_ratio{};
+        };
+
+        // Recovers vertical FOV and aspect ratio from a perspective projection matrix
+        // built by any of the engine traits.  Both variants (ZERO_TO_ONE and
+        // 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
+        {
+            // 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);
+            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
+        {
+            Vector3<NumericType> forward_vector = {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
+            if constexpr (axes.inverted_forward)
+                forward_vector = -forward_vector;
+            return TraitClass::calc_look_at_angle({}, forward_vector);
+        }
+
+        [[nodiscard("You must use calculated origin")]]
+        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
+            return {
+                    -(view_matrix[0, 0] * view_matrix[0, 3] + view_matrix[1, 0] * view_matrix[1, 3]
+                      + view_matrix[2, 0] * view_matrix[2, 3]),
+                    -(view_matrix[0, 1] * view_matrix[0, 3] + view_matrix[1, 1] * view_matrix[1, 3]
+                      + view_matrix[2, 1] * view_matrix[2, 3]),
+                    -(view_matrix[0, 2] * view_matrix[0, 3] + view_matrix[1, 2] * view_matrix[1, 3]
+                      + view_matrix[2, 2] * view_matrix[2, 3]),
+            };
+        }
+
+        void look_at(const Vector3<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]]
+        [[nodiscard("You must use calculated look-at angles")]]
-        ViewAnglesType calc_look_at_angles(const Vector3<float>& look_to) const
+        ViewAnglesType calc_look_at_angles(const Vector3<NumericType>& look_to) const
         {
             return TraitClass::calc_look_at_angle(m_origin, look_to);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use forward vector")]]
-        Vector3<float> get_forward() const noexcept
+        Vector3<NumericType> get_forward() const noexcept
         {
             const auto& view_matrix = get_view_matrix();
-
-            if constexpr (inverted_z)
-                return -Vector3<float>{view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
             return {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use right vector")]]
-        Vector3<float> get_right() const noexcept
+        Vector3<NumericType> get_right() const noexcept
         {
             const auto& view_matrix = get_view_matrix();
             return {view_matrix[0, 0], view_matrix[0, 1], view_matrix[0, 2]};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use up vector")]]
-        Vector3<float> get_up() const noexcept
+        Vector3<NumericType> get_up() const noexcept
         {
             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
+        {
+            if constexpr (axes.inverted_forward)
+                return -get_forward();
+            return get_forward();
+        }
 
-        [[nodiscard]] const Mat4X4Type& get_view_projection_matrix() const noexcept
+        [[nodiscard("You must use absolute right vector")]]
+        Vector3<NumericType> get_abs_right() const noexcept
+        {
+            if constexpr (axes.inverted_right)
+                return -get_right();
+            return get_right();
+        }
+
+        [[nodiscard("You must use absolute up vector")]]
+        Vector3<NumericType> get_abs_up() const noexcept
+        {
+            return get_up();
+        }
+
+        [[nodiscard("You must use view-projection matrix")]]
+        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();
@@ -127,19 +199,18 @@ namespace omath::projection
             return m_view_projection_matrix.value();
         }
 
-        [[nodiscard]] const Mat4X4Type& get_view_matrix() const noexcept
+        [[nodiscard("You must use view matrix")]] 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);
 
             return m_view_matrix.value();
         }
-        [[nodiscard]] const Mat4X4Type& get_projection_matrix() const noexcept
+        [[nodiscard("You must use projection matrix")]] const Mat4X4Type& get_projection_matrix() const noexcept
         {
             if (!m_projection_matrix.has_value())
-                m_projection_matrix = TraitClass::calc_projection_matrix(m_field_of_view, m_view_port,
+                m_projection_matrix = TraitClass::calc_projection_matrix(
-                                                                         m_near_plane_distance, m_far_plane_distance,
+                        m_field_of_view, m_view_port, m_near_plane_distance, m_far_plane_distance, depth_range);
-                                                                         depth_range);
 
             return m_projection_matrix.value();
         }
@@ -151,14 +222,14 @@ namespace omath::projection
             m_projection_matrix = std::nullopt;
         }
 
-        void set_near_plane(const float near_plane) noexcept
+        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 float far_plane) noexcept
+        void set_far_plane(const NumericType far_plane) noexcept
         {
             m_far_plane_distance = far_plane;
             m_view_projection_matrix = std::nullopt;
@@ -172,7 +243,7 @@ namespace omath::projection
             m_view_matrix = std::nullopt;
         }
 
-        void set_origin(const Vector3<float>& origin) noexcept
+        void set_origin(const Vector3<NumericType>& origin) noexcept
         {
             m_origin = origin;
             m_view_projection_matrix = std::nullopt;
@@ -185,34 +256,34 @@ namespace omath::projection
             m_projection_matrix = std::nullopt;
         }
 
-        [[nodiscard]] const FieldOfView& get_field_of_view() const noexcept
+        [[nodiscard("You must use field of view")]] const FieldOfView& get_field_of_view() const noexcept
         {
             return m_field_of_view;
         }
 
-        [[nodiscard]] const float& get_near_plane() const noexcept
+        [[nodiscard("You must use near plane")]] const NumericType& get_near_plane() const noexcept
         {
             return m_near_plane_distance;
         }
 
-        [[nodiscard]] const float& get_far_plane() const noexcept
+        [[nodiscard("You must use far plane")]] const NumericType& get_far_plane() const noexcept
         {
             return m_far_plane_distance;
         }
 
-        [[nodiscard]] const ViewAnglesType& get_view_angles() const noexcept
+        [[nodiscard("You must use view angles")]] const ViewAnglesType& get_view_angles() const noexcept
         {
             return m_view_angles;
         }
 
-        [[nodiscard]] const Vector3<float>& get_origin() const noexcept
+        [[nodiscard("You must use origin")]] const Vector3<NumericType>& get_origin() const noexcept
         {
             return m_origin;
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]] std::expected<Vector3<float>, Error>
+        [[nodiscard("You must use screen position")]] std::expected<Vector3<NumericType>, Error>
-        world_to_screen(const Vector3<float>& world_position) const noexcept
+        world_to_screen(const Vector3<NumericType>& world_position) const noexcept
         {
             const auto normalized_cords = world_to_view_port(world_position);
 
@@ -227,8 +298,8 @@ namespace omath::projection
                 std::unreachable();
         }
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]] std::expected<Vector3<float>, Error>
+        [[nodiscard("You must use unclipped screen position")]] std::expected<Vector3<NumericType>, Error>
-        world_to_screen_unclipped(const Vector3<float>& world_position) const noexcept
+        world_to_screen_unclipped(const Vector3<NumericType>& world_position) const noexcept
         {
             const auto normalized_cords = world_to_view_port(world_position, ViewPortClipping::MANUAL);
 
@@ -243,14 +314,15 @@ namespace omath::projection
                 std::unreachable();
         }
 
-        [[nodiscard]] bool is_culled_by_frustum(const Triangle<Vector3<float>>& triangle) const noexcept
+        [[nodiscard("You must use frustum culling result")]] bool
+        is_culled_by_frustum(const Triangle<Vector3<NumericType>>& triangle) const noexcept
         {
             // Transform to clip space (before perspective divide)
-            auto to_clip = [this](const Vector3<float>& point)
+            auto to_clip = [this](const Vector3<NumericType>& point)
             {
                 auto clip = get_view_projection_matrix()
-                            * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(point);
+                            * mat_column_from_vector<NumericType, Mat4X4Type::get_store_ordering()>(point);
-                return std::array<float, 4>{
+                return std::array<NumericType, 4>{
                         clip.at(0, 0), // x
                         clip.at(1, 0), // y
                         clip.at(2, 0), // z
@@ -263,12 +335,13 @@ namespace omath::projection
             const auto c2 = to_clip(triangle.m_vertex3);
 
             // If all vertices are behind the camera (w <= 0), trivially reject
-            if (c0[3] <= 0.f && c1[3] <= 0.f && c2[3] <= 0.f)
+            if (c0[3] <= NumericType{0} && c1[3] <= NumericType{0} && c2[3] <= NumericType{0})
                 return true;
 
             // Helper: all three vertices outside the same clip plane
-            auto all_outside_plane = [](const int axis, const std::array<float, 4>& a, const std::array<float, 4>& b,
+            auto all_outside_plane = [](const int axis, const std::array<NumericType, 4>& a,
-                                        const std::array<float, 4>& c, const bool positive_side)
+                                        const std::array<NumericType, 4>& b, const std::array<NumericType, 4>& c,
+                                        const bool positive_side)
             {
                 if (positive_side)
                     return a[axis] > a[3] && b[axis] > b[3] && c[axis] > c[3];
@@ -309,9 +382,131 @@ namespace omath::projection
             return false;
         }
 
-        [[nodiscard]] bool is_aabb_culled_by_frustum(const primitives::Aabb<float>& aabb) const noexcept
+        [[nodiscard("You must use AABB frustum culling result")]] bool
+        is_aabb_culled_by_frustum(const primitives::Aabb<NumericType>& aabb) const noexcept
         {
-            const auto& m = get_view_projection_matrix();
+            // For each plane, find the AABB corner most in the direction of the plane normal
+            // (the "positive vertex"). If it's outside, the entire AABB is outside.
+            for (const auto& [a, b, c, d] : extract_frustum_planes())
+            {
+                const auto px = a >= NumericType{0} ? aabb.max.x : aabb.min.x;
+                const auto py = b >= NumericType{0} ? aabb.max.y : aabb.min.y;
+                const auto pz = c >= NumericType{0} ? aabb.max.z : aabb.min.z;
+
+                if (a * px + b * py + c * pz + d < NumericType{0})
+                    return true;
+            }
+
+            return false;
+        }
+
+        [[nodiscard("You must use OBB frustum culling result")]] 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
+            // effective radius, then test the center's signed distance against it.
+            for (const auto& [a, b, c, d] : extract_frustum_planes())
+            {
+                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))
+                                    + obb.half_extents.y * std::abs(normal.dot(obb.axis_y))
+                                    + obb.half_extents.z * std::abs(normal.dot(obb.axis_z));
+
+                if (center_distance + radius < NumericType{0})
+                    return true;
+            }
+
+            return false;
+        }
+
+        [[nodiscard("You must use view port position")]] 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()
+                             * 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)
+                return std::unexpected(Error::PERSPECTIVE_DIVIDER_LESS_EQ_ZERO);
+
+            projected /= w;
+
+            // ReSharper disable once CppTooWideScope
+            const auto clipped_automatically = clipping == ViewPortClipping::AUTO && is_ndc_out_of_bounds(projected);
+            if (clipped_automatically)
+                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+
+            // ReSharper disable once CppTooWideScope
+            constexpr auto z_min = depth_range == NDCDepthRange::ZERO_TO_ONE ? NumericType{0} : -NumericType{1};
+            const auto clipped_manually =
+                    clipping == ViewPortClipping::MANUAL
+                    && (projected.at(2, 0) < z_min - eps || projected.at(2, 0) > NumericType{1} + eps);
+            if (clipped_manually)
+                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)};
+        }
+        [[nodiscard("You must use world position")]]
+        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();
+
+            if (!inv_view_proj)
+                return std::unexpected(Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO);
+
+            auto inverted_projection =
+                    inv_view_proj.value() * 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())
+                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)};
+        }
+
+        template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
+        [[nodiscard("You must use world position")]]
+        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));
+        }
+
+        template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
+        [[nodiscard("You must use world position")]]
+        std::expected<Vector3<NumericType>, Error>
+        screen_to_world(const Vector2<NumericType>& screen_pos) const noexcept
+        {
+            const auto& [x, y] = screen_pos;
+            return screen_to_world<screen_start>({x, y, 1});
+        }
+
+    protected:
+        ViewPort m_view_port{};
+        FieldOfView m_field_of_view;
+
+        mutable std::optional<Mat4X4Type> m_view_projection_matrix;
+        mutable std::optional<Mat4X4Type> m_projection_matrix;
+        mutable std::optional<Mat4X4Type> m_view_matrix;
+        NumericType m_far_plane_distance;
+        NumericType m_near_plane_distance;
+
+        ViewAnglesType m_view_angles;
+        Vector3<NumericType> m_origin;
+
+    private:
+        struct FrustumPlane final
+        {
+            NumericType a, b, c, d;
+        };
 
         // Gribb-Hartmann: extract 6 frustum planes from the view-projection matrix.
         // Each plane is (a, b, c, d) such that ax + by + cz + d >= 0 means inside.
@@ -322,22 +517,21 @@ namespace omath::projection
         //   Top    = r3 - r1
         //   Near   = r3 + r2  ([-1,1]) or r2 ([0,1])
         //   Far    = r3 - r2
-            struct Plane final
+        [[nodiscard("You must use frustum planes")]] std::array<FrustumPlane, 6> extract_frustum_planes() const noexcept
         {
-                float a, b, c, d;
+            const auto& m = get_view_projection_matrix();
-            };
 
-            const auto extract_plane = [&m](const int sign, const int row) -> Plane
+            const auto extract_plane = [&m](const int sign, const int row) -> FrustumPlane
             {
                 return {
-                        m.at(3, 0) + static_cast<float>(sign) * m.at(row, 0),
+                        m.at(3, 0) + static_cast<NumericType>(sign) * m.at(row, 0),
-                        m.at(3, 1) + static_cast<float>(sign) * m.at(row, 1),
+                        m.at(3, 1) + static_cast<NumericType>(sign) * m.at(row, 1),
-                        m.at(3, 2) + static_cast<float>(sign) * m.at(row, 2),
+                        m.at(3, 2) + static_cast<NumericType>(sign) * m.at(row, 2),
-                        m.at(3, 3) + static_cast<float>(sign) * m.at(row, 3),
+                        m.at(3, 3) + static_cast<NumericType>(sign) * m.at(row, 3),
                 };
             };
 
-            std::array<Plane, 6> planes = {
+            std::array<FrustumPlane, 6> planes = {
                     extract_plane(1, 0), // left
                     extract_plane(-1, 0), // right
                     extract_plane(1, 1), // bottom
@@ -351,122 +545,32 @@ namespace omath::projection
             else
                 planes[5] = extract_plane(1, 2);
 
-            // For each plane, find the AABB corner most in the direction of the plane normal
+            return planes;
-            // (the "positive vertex"). If it's outside, the entire AABB is outside.
-            for (const auto& [a, b, c, d] : planes)
-            {
-                const float px = a >= 0.f ? aabb.max.x : aabb.min.x;
-                const float py = b >= 0.f ? aabb.max.y : aabb.min.y;
-                const float pz = c >= 0.f ? aabb.max.z : aabb.min.z;
-
-                if (a * px + b * py + c * pz + d < 0.f)
-                    return true;
         }
 
-            return false;
-        }
-
-        [[nodiscard]] std::expected<Vector3<float>, Error>
-        world_to_view_port(const Vector3<float>& world_position,
-                           const ViewPortClipping& clipping = ViewPortClipping::AUTO) const noexcept
-        {
-            auto projected = get_view_projection_matrix()
-                             * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(world_position);
-
-            const auto& w = projected.at(3, 0);
-            constexpr auto eps = std::numeric_limits<float>::epsilon();
-            if (w <= eps)
-                return std::unexpected(Error::PERSPECTIVE_DIVIDER_LESS_EQ_ZERO);
-
-            projected /= w;
-
-            // ReSharper disable once CppTooWideScope
-            const auto clipped_automatically = clipping == ViewPortClipping::AUTO && is_ndc_out_of_bounds(projected);
-            if (clipped_automatically)
-                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
-
-            // ReSharper disable once CppTooWideScope
-            constexpr auto z_min = depth_range == NDCDepthRange::ZERO_TO_ONE ? 0.0f : -1.0f;
-            const auto clipped_manually = clipping == ViewPortClipping::MANUAL && (projected.at(2, 0) < z_min - eps
-                                          || projected.at(2, 0) > 1.0f + eps);
-            if (clipped_manually)
-                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
-
-            return Vector3<float>{projected.at(0, 0), projected.at(1, 0), projected.at(2, 0)};
-        }
-        [[nodiscard]]
-        std::expected<Vector3<float>, Error> view_port_to_world(const Vector3<float>& ndc) const noexcept
-        {
-            const auto inv_view_proj = get_view_projection_matrix().inverted();
-
-            if (!inv_view_proj)
-                return std::unexpected(Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO);
-
-            auto inverted_projection =
-                    inv_view_proj.value() * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(ndc);
-
-            const auto& w = inverted_projection.at(3, 0);
-
-            if (std::abs(w) < std::numeric_limits<float>::epsilon())
-                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
-
-            inverted_projection /= w;
-
-            return Vector3<float>{inverted_projection.at(0, 0), inverted_projection.at(1, 0),
-                                  inverted_projection.at(2, 0)};
-        }
-
-        template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]]
-        std::expected<Vector3<float>, Error> screen_to_world(const Vector3<float>& screen_pos) const noexcept
-        {
-            return view_port_to_world(screen_to_ndc<screen_start>(screen_pos));
-        }
-
-        template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]]
-        std::expected<Vector3<float>, Error> screen_to_world(const Vector2<float>& screen_pos) const noexcept
-        {
-            const auto& [x, y] = screen_pos;
-            return screen_to_world<screen_start>({x, y, 1.f});
-        }
-
-    protected:
-        ViewPort m_view_port{};
-        Angle<float, 0.f, 180.f, AngleFlags::Clamped> m_field_of_view;
-
-        mutable std::optional<Mat4X4Type> m_view_projection_matrix;
-        mutable std::optional<Mat4X4Type> m_projection_matrix;
-        mutable std::optional<Mat4X4Type> m_view_matrix;
-        float m_far_plane_distance;
-        float m_near_plane_distance;
-
-        ViewAnglesType m_view_angles;
-        Vector3<float> m_origin;
-
-    private:
         template<class Type>
-        [[nodiscard]] constexpr static bool is_ndc_out_of_bounds(const Type& ndc) noexcept
+        [[nodiscard("You must use NDC bounds check result")]] constexpr static bool
+        is_ndc_out_of_bounds(const Type& ndc) noexcept
         {
-            constexpr auto eps = std::numeric_limits<float>::epsilon();
+            constexpr auto eps = std::numeric_limits<NumericType>::epsilon();
 
             const auto& data = ndc.raw_array();
             // x and y are always in [-1, 1]
-            if (data[0] < -1.0f - eps || data[0] > 1.0f + eps)
+            if (data[0] < -NumericType{1} - eps || data[0] > NumericType{1} + eps)
                 return true;
-            if (data[1] < -1.0f - eps || data[1] > 1.0f + eps)
+            if (data[1] < -NumericType{1} - eps || data[1] > NumericType{1} + eps)
                 return true;
             return is_ndc_z_value_out_of_bounds(data[2]);
         }
         template<class ZType>
-         [[nodiscard]]
+        [[nodiscard("You must use NDC z bounds check result")]]
         constexpr static bool is_ndc_z_value_out_of_bounds(const ZType& z_ndc) noexcept
         {
-            constexpr auto eps = std::numeric_limits<float>::epsilon();
+            constexpr auto eps = std::numeric_limits<NumericType>::epsilon();
             if constexpr (depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-                return z_ndc < -1.0f - eps || z_ndc > 1.0f + eps;
+                return z_ndc < -NumericType{1} - eps || z_ndc > NumericType{1} + eps;
             if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
-                return z_ndc < 0.0f - eps || z_ndc > 1.0f + eps;
+                return z_ndc < NumericType{0} - eps || z_ndc > NumericType{1} + eps;
 
             std::unreachable();
         }
@@ -485,8 +589,8 @@ namespace omath::projection
                                 v
             */
 
-        [[nodiscard]] Vector3<float>
+        [[nodiscard("You must use screen position")]] Vector3<NumericType>
-        ndc_to_screen_position_from_top_left_corner(const Vector3<float>& ndc) const noexcept
+        ndc_to_screen_position_from_top_left_corner(const Vector3<NumericType>& ndc) const noexcept
         {
             /*
             +------------------------>
@@ -499,11 +603,12 @@ namespace omath::projection
             |
             ⌄
             */
-            return {(ndc.x + 1.f) / 2.f * m_view_port.m_width, (ndc.y / -2.f + 0.5f) * m_view_port.m_height, ndc.z};
+            return {(ndc.x + NumericType{1}) / NumericType{2} * m_view_port.m_width,
+                    (ndc.y / -NumericType{2} + NumericType{0.5}) * m_view_port.m_height, ndc.z};
         }
 
-        [[nodiscard]] Vector3<float>
+        [[nodiscard("You must use screen position")]] Vector3<NumericType>
-        ndc_to_screen_position_from_bottom_left_corner(const Vector3<float>& ndc) const noexcept
+        ndc_to_screen_position_from_bottom_left_corner(const Vector3<NumericType>& ndc) const noexcept
         {
             /*
              ^
@@ -516,18 +621,20 @@ namespace omath::projection
              | (0, 0)
              +------------------------>
              */
-            return {(ndc.x + 1.f) / 2.f * m_view_port.m_width, (ndc.y / 2.f + 0.5f) * m_view_port.m_height, ndc.z};
+            return {(ndc.x + NumericType{1}) / NumericType{2} * m_view_port.m_width,
+                    (ndc.y / NumericType{2} + NumericType{0.5}) * m_view_port.m_height, ndc.z};
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]] Vector3<float> screen_to_ndc(const Vector3<float>& screen_pos) const noexcept
+        [[nodiscard("You must use NDC position")]] Vector3<NumericType>
+        screen_to_ndc(const Vector3<NumericType>& screen_pos) const noexcept
         {
             if constexpr (screen_start == ScreenStart::TOP_LEFT_CORNER)
-                return {screen_pos.x / m_view_port.m_width * 2.f - 1.f, 1.f - screen_pos.y / m_view_port.m_height * 2.f,
+                return {screen_pos.x / m_view_port.m_width * NumericType{2} - NumericType{1},
-                        screen_pos.z};
+                        NumericType{1} - screen_pos.y / m_view_port.m_height * NumericType{2}, screen_pos.z};
             else if constexpr (screen_start == ScreenStart::BOTTOM_LEFT_CORNER)
-                return {screen_pos.x / m_view_port.m_width * 2.f - 1.f,
+                return {screen_pos.x / m_view_port.m_width * NumericType{2} - NumericType{1},
-                        (screen_pos.y / m_view_port.m_height - 0.5f) * 2.f, screen_pos.z};
+                        (screen_pos.y / m_view_port.m_height - NumericType{0.5}) * NumericType{2}, screen_pos.z};
             else
                 std::unreachable();
         }

scripts/gource-timelapse.sh

@@ -0,0 +1,61 @@
+#!/bin/bash
+
+# =============================================================================
+# Gource Timelapse — renders the repository history as a video
+# Requires: gource, ffmpeg
+# =============================================================================
+
+set -euo pipefail
+
+# --- Config (override via env vars) ---
+OUTPUT="${OUTPUT:-gource-timelapse.mp4}"
+SECONDS_PER_DAY="${SECONDS_PER_DAY:-0.1}"
+RESOLUTION="${RESOLUTION:-1920x1080}"
+FPS="${FPS:-60}"
+TITLE="${TITLE:-omath}"
+
+# --- Dependency checks ---
+for cmd in gource ffmpeg; do
+    if ! command -v "$cmd" &>/dev/null; then
+        echo "Error: '$cmd' is not installed."
+        echo "  macOS:  brew install $cmd"
+        echo "  Linux:  sudo apt install $cmd"
+        exit 1
+    fi
+done
+
+echo "----------------------------------------------------"
+echo "Rendering gource timelapse → $OUTPUT"
+echo "  Resolution : $RESOLUTION"
+echo "  FPS        : $FPS"
+echo "  Speed      : ${SECONDS_PER_DAY}s per day"
+echo "----------------------------------------------------"
+
+gource \
+    --title "$TITLE" \
+    --seconds-per-day "$SECONDS_PER_DAY" \
+    --auto-skip-seconds 0.1 \
+    --time-scale 3 \
+    --max-files 0 \
+    --hide filenames \
+    --date-format "%Y-%m-%d" \
+    --multi-sampling \
+    --bloom-multiplier 0.5 \
+    --elasticity 0.05 \
+    --${RESOLUTION%x*}x${RESOLUTION#*x} \
+    --output-framerate "$FPS" \
+    --output-ppm-stream - \
+    | ffmpeg -y \
+        -r "$FPS" \
+        -f image2pipe \
+        -vcodec ppm \
+        -i - \
+        -vcodec libx264 \
+        -preset fast \
+        -pix_fmt yuv420p \
+        -crf 18 \
+        "$OUTPUT"
+
+echo "----------------------------------------------------"
+echo "Done: $OUTPUT"
+echo "----------------------------------------------------"

source/engines/cry_engine/formulas.cpp

@@ -34,16 +34,37 @@ namespace omath::cry_engine
                * 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<float, MatStoreType::ROW_MAJOR, 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<float, MatStoreType::ROW_MAJOR, 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
+} // namespace omath::cry_engine

source/engines/cry_engine/traits/camera_trait.cpp

@@ -24,4 +24,4 @@ namespace omath::cry_engine
         return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
                                                   ndc_depth_range);
     }
-} // namespace omath::unity_engine
+} // namespace omath::cry_engine

source/engines/frostbite_engine/formulas.cpp

@@ -34,15 +34,36 @@ namespace omath::frostbite_engine
                * 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<float, MatStoreType::ROW_MAJOR, 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<float, MatStoreType::ROW_MAJOR, 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();

source/engines/iw_engine/formulas.cpp

@@ -30,6 +30,26 @@ namespace omath::iw_engine
         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);
@@ -38,25 +58,22 @@ namespace omath::iw_engine
     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
     {
-        // NOTE: Need magic number to fix fov calculation, since IW engine inherit Quake proj matrix calculation
+        // InfinityWard Engine (inherited from Quake) stores FOV as horizontal FOV at a 4:3
-        constexpr auto k_multiply_factor = 0.75f;
+        // reference aspect. Convert to true vertical FOV, then delegate to the
-
+        // standard vertical-FOV left-handed builder with the caller's actual
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f) * k_multiply_factor;
+        // 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 {
+            return mat_perspective_left_handed_vertical_fov<
-                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
-                    {0, 1.f / (fov_half_tan), 0, 0},
+                    vertical_fov, aspect_ratio, near, far);
-                    {0, 0, far / (far - near), -(near * far) / (far - near)},
-                    {0, 0, 1, 0},
-            };
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return {
+            return mat_perspective_left_handed_vertical_fov<
-                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    {0, 1.f / (fov_half_tan), 0, 0},
+                    vertical_fov, aspect_ratio, near, far);
-                    {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
-                    {0, 0, 1, 0},
-            };
         std::unreachable();
     };
 } // namespace omath::iw_engine

source/engines/opengl_engine/formulas.cpp

@@ -36,15 +36,36 @@ namespace omath::opengl_engine
                * 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<float, MatStoreType::COLUMN_MAJOR, 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<float, MatStoreType::COLUMN_MAJOR, 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();

source/engines/source_engine/formulas.cpp

@@ -17,6 +17,26 @@ namespace omath::source_engine
         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);
@@ -38,25 +58,22 @@ namespace omath::source_engine
     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
     {
-        // NOTE: Need magic number to fix fov calculation, since source inherit Quake proj matrix calculation
+        // Source (inherited from Quake) stores FOV as horizontal FOV at a 4:3
-        constexpr auto k_multiply_factor = 0.75f;
+        // reference aspect. Convert to true vertical FOV, then delegate to the
-
+        // standard vertical-FOV left-handed builder with the caller's actual
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f) * k_multiply_factor;
+        // 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 {
+            return mat_perspective_left_handed_vertical_fov<
-                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
-                    {0, 1.f / (fov_half_tan), 0, 0},
+                    vertical_fov, aspect_ratio, near, far);
-                    {0, 0, far / (far - near), -(near * far) / (far - near)},
-                    {0, 0, 1, 0},
-            };
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return {
+            return mat_perspective_left_handed_vertical_fov<
-                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    {0, 1.f / (fov_half_tan), 0, 0},
+                    vertical_fov, aspect_ratio, near, far);
-                    {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
-                    {0, 0, 1, 0},
-            };
         std::unreachable();
     }
 } // namespace omath::source_engine

source/engines/unity_engine/formulas.cpp

@@ -34,14 +34,35 @@ namespace omath::unity_engine
                * 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<float, MatStoreType::ROW_MAJOR, 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<float, MatStoreType::ROW_MAJOR,
+            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();

source/engines/unreal_engine/formulas.cpp

@@ -2,45 +2,76 @@
 // Created by Vlad on 3/22/2025.
 //
 #include "omath/engines/unreal_engine/formulas.hpp"
-
 namespace omath::unreal_engine
 {
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    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<float> right_vector(const ViewAngles& angles) noexcept
+    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<float> up_vector(const ViewAngles& angles) noexcept
+    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<float>& cam_origin) noexcept
+    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept
     {
-        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), -right_vector(angles),
+        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
     {
-        return mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.roll)
+        // UE FRotator is intrinsic Z-Y-X (Yaw → Pitch → Roll applied in local
-               * mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+        // frame), which for column-vector composition is Rz·Ry·Rx.
-               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+        // 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);
     }
-    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<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
-                    field_of_view, aspect_ratio, near, far);
 
-        return mat_perspective_left_handed(field_of_view, aspect_ratio, near, far);
+
+    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

@@ -6,20 +6,20 @@
 namespace omath::unreal_engine
 {
 
-    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
+    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)),
+        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
+    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 float near,
+                                               const projection::ViewPort& view_port, const double near,
-                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
+                                               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);

source/hooks/hooks_manager.cpp

@@ -0,0 +1,742 @@
+#include "omath/hooks/hooks_manager.hpp"
+
+#ifdef OMATH_ENABLE_HOOKING
+
+#ifdef _WIN32
+#include <d3d11.h>
+#endif // _WIN32
+
+#ifdef __linux__
+#include <dlfcn.h>
+#endif // __linux__
+
+namespace
+{
+#ifdef _WIN32
+    thread_local bool g_is_inside_opengl_swap_buffers = false;
+
+    class DummyWindow final
+    {
+        WNDCLASSEX m_window_class{};
+        HWND m_window_handle = nullptr;
+
+    public:
+        DummyWindow()
+        {
+            m_window_class.cbSize = sizeof(WNDCLASSEX);
+            m_window_class.style = CS_HREDRAW | CS_VREDRAW;
+            m_window_class.lpfnWndProc = DefWindowProc;
+            m_window_class.hInstance = GetModuleHandle(nullptr);
+            m_window_class.lpszClassName = "OM";
+            RegisterClassEx(&m_window_class);
+            m_window_handle = CreateWindow(m_window_class.lpszClassName, "Dummy", WS_OVERLAPPEDWINDOW, 0, 0, 100, 100,
+                                           nullptr, nullptr, m_window_class.hInstance, nullptr);
+        }
+        ~DummyWindow()
+        {
+            if (m_window_handle)
+                DestroyWindow(m_window_handle);
+            UnregisterClass(m_window_class.lpszClassName, m_window_class.hInstance);
+        }
+        [[nodiscard]] HWND handle() const
+        {
+            return m_window_handle;
+        }
+        [[nodiscard]] bool valid() const
+        {
+            return m_window_handle != nullptr;
+        }
+    };
+
+    void* vtable_fn(void* com_obj, std::size_t index)
+    {
+        return (*reinterpret_cast<void***>(com_obj))[index];
+    }
+
+    void* module_proc(const char* module_name, const char* proc_name)
+    {
+        const HMODULE module = GetModuleHandle(module_name);
+        if (!module)
+            return nullptr;
+
+        return reinterpret_cast<void*>(GetProcAddress(module, proc_name));
+    }
+
+    struct dx12_vtable_fns
+    {
+        void* present;
+        void* resize_buffers;
+        void* execute_command_lists;
+    };
+
+    // RAII wrapper so all early-return paths release COM objects automatically.
+    struct dx12_com_objects
+    {
+        IDXGIFactory* factory = nullptr;
+        ID3D12Device* device = nullptr;
+        ID3D12CommandQueue* command_queue = nullptr;
+        ID3D12CommandAllocator* command_allocator = nullptr;
+        ID3D12GraphicsCommandList* command_list = nullptr;
+        IDXGISwapChain* swap_chain = nullptr;
+
+        dx12_com_objects() = default;
+        dx12_com_objects(const dx12_com_objects&) = delete;
+        dx12_com_objects& operator=(const dx12_com_objects&) = delete;
+
+        ~dx12_com_objects()
+        {
+            if (swap_chain)
+                swap_chain->Release();
+            if (command_list)
+                command_list->Release();
+            if (command_allocator)
+                command_allocator->Release();
+            if (command_queue)
+                command_queue->Release();
+            if (device)
+                device->Release();
+            if (factory)
+                factory->Release();
+        }
+    };
+
+    std::optional<dx12_vtable_fns> read_dx12_vtable_fns(HWND hwnd)
+    {
+        using create_dxgi_factory_fn = HRESULT(__stdcall*)(REFIID, void**);
+        using d3d12_create_device_fn = HRESULT(__stdcall*)(IUnknown*, D3D_FEATURE_LEVEL, REFIID, void**);
+
+        const HMODULE d3d12_module = GetModuleHandle("d3d12.dll");
+        const HMODULE dxgi_module = GetModuleHandle("dxgi.dll");
+        if (!d3d12_module || !dxgi_module)
+            return std::nullopt;
+
+        const auto create_dxgi_factory =
+                reinterpret_cast<create_dxgi_factory_fn>(GetProcAddress(dxgi_module, "CreateDXGIFactory"));
+        const auto d3d12_create_device =
+                reinterpret_cast<d3d12_create_device_fn>(GetProcAddress(d3d12_module, "D3D12CreateDevice"));
+
+        if (!create_dxgi_factory || !d3d12_create_device)
+            return std::nullopt;
+
+        dx12_com_objects objs;
+
+        if (FAILED(create_dxgi_factory(__uuidof(IDXGIFactory), reinterpret_cast<void**>(&objs.factory))))
+            return std::nullopt;
+
+        IDXGIAdapter* adapter = nullptr;
+        if (objs.factory->EnumAdapters(0, &adapter) == DXGI_ERROR_NOT_FOUND)
+            return std::nullopt;
+
+        const HRESULT device_hr = d3d12_create_device(adapter, D3D_FEATURE_LEVEL_11_0, __uuidof(ID3D12Device),
+                                                      reinterpret_cast<void**>(&objs.device));
+        adapter->Release();
+        if (FAILED(device_hr))
+            return std::nullopt;
+
+        D3D12_COMMAND_QUEUE_DESC queue_desc{};
+        queue_desc.Type = D3D12_COMMAND_LIST_TYPE_DIRECT;
+
+        if (FAILED(objs.device->CreateCommandQueue(&queue_desc, __uuidof(ID3D12CommandQueue),
+                                                   reinterpret_cast<void**>(&objs.command_queue))))
+            return std::nullopt;
+
+        if (FAILED(objs.device->CreateCommandAllocator(D3D12_COMMAND_LIST_TYPE_DIRECT, __uuidof(ID3D12CommandAllocator),
+                                                       reinterpret_cast<void**>(&objs.command_allocator))))
+            return std::nullopt;
+
+        if (FAILED(objs.device->CreateCommandList(0, D3D12_COMMAND_LIST_TYPE_DIRECT, objs.command_allocator, nullptr,
+                                                  __uuidof(ID3D12GraphicsCommandList),
+                                                  reinterpret_cast<void**>(&objs.command_list))))
+            return std::nullopt;
+
+        DXGI_SWAP_CHAIN_DESC swap_chain_desc{};
+        swap_chain_desc.BufferDesc.Width = 100;
+        swap_chain_desc.BufferDesc.Height = 100;
+        swap_chain_desc.BufferDesc.RefreshRate = {60, 1};
+        swap_chain_desc.BufferDesc.Format = DXGI_FORMAT_R8G8B8A8_UNORM;
+        swap_chain_desc.SampleDesc = {1, 0};
+        swap_chain_desc.BufferUsage = DXGI_USAGE_RENDER_TARGET_OUTPUT;
+        swap_chain_desc.BufferCount = 2;
+        swap_chain_desc.OutputWindow = hwnd;
+        swap_chain_desc.Windowed = TRUE;
+        swap_chain_desc.SwapEffect = DXGI_SWAP_EFFECT_FLIP_DISCARD;
+        swap_chain_desc.Flags = DXGI_SWAP_CHAIN_FLAG_ALLOW_MODE_SWITCH;
+
+        if (FAILED(objs.factory->CreateSwapChain(objs.command_queue, &swap_chain_desc, &objs.swap_chain)))
+            return std::nullopt;
+
+        // objs destructor releases all COM objects after we capture the addresses.
+        return dx12_vtable_fns{
+                vtable_fn(objs.swap_chain, 8), // IDXGISwapChain::Present
+                vtable_fn(objs.swap_chain, 13), // IDXGISwapChain::ResizeBuffers
+                vtable_fn(objs.command_queue, 10), // ID3D12CommandQueue::ExecuteCommandLists
+        };
+    }
+#endif // _WIN32
+} // namespace
+
+namespace omath::hooks
+{
+    HooksManager& HooksManager::get()
+    {
+        static HooksManager obj;
+        return obj;
+    }
+
+    HooksManager::~HooksManager()
+    {
+#ifdef _WIN32
+        unhook_wnd_proc();
+        unhook_dx9();
+        unhook_dx11();
+        unhook_dx12();
+#endif // _WIN32
+        unhook_opengl();
+    }
+
+#ifdef _WIN32
+    bool HooksManager::hook_dx9()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        if (m_is_dx9_hooked)
+            return true;
+
+        const DummyWindow window;
+        if (!window.valid())
+            return false;
+
+        const HMODULE d3d9_module = GetModuleHandle("d3d9.dll");
+        if (!d3d9_module)
+            return false;
+
+        using direct3d_create9_fn = IDirect3D9*(__stdcall*)(UINT);
+        const auto direct3d_create9 =
+                reinterpret_cast<direct3d_create9_fn>(GetProcAddress(d3d9_module, "Direct3DCreate9"));
+        if (!direct3d_create9)
+            return false;
+
+        IDirect3D9* d3d9 = direct3d_create9(D3D_SDK_VERSION);
+        if (!d3d9)
+            return false;
+
+        D3DPRESENT_PARAMETERS pp{};
+        pp.SwapEffect = D3DSWAPEFFECT_DISCARD;
+        pp.hDeviceWindow = window.handle();
+        pp.Windowed = TRUE;
+
+        IDirect3DDevice9* device = nullptr;
+        if (FAILED(d3d9->CreateDevice(D3DADAPTER_DEFAULT, D3DDEVTYPE_HAL, window.handle(),
+                                      D3DCREATE_SOFTWARE_VERTEXPROCESSING, &pp, &device)))
+        {
+            d3d9->Release();
+            return false;
+        }
+
+        // IDirect3DDevice9 vtable indices (from IUnknown base):
+        //   Reset    = 16
+        //   Present  = 17
+        //   EndScene = 42
+        m_dx9_present_hook =
+                safetyhook::create_inline(vtable_fn(device, 17), reinterpret_cast<void*>(&dx9_present_detour));
+
+        m_dx9_reset_hook = safetyhook::create_inline(vtable_fn(device, 16), reinterpret_cast<void*>(&dx9_reset_detour));
+
+        m_dx9_end_scene_hook =
+                safetyhook::create_inline(vtable_fn(device, 42), reinterpret_cast<void*>(&dx9_end_scene_detour));
+
+        device->Release();
+        d3d9->Release();
+
+        if (!m_dx9_present_hook || !m_dx9_reset_hook || !m_dx9_end_scene_hook)
+        {
+            m_dx9_present_hook = {};
+            m_dx9_reset_hook = {};
+            m_dx9_end_scene_hook = {};
+            return false;
+        }
+
+        m_is_dx9_hooked = true;
+        return true;
+    }
+
+    void HooksManager::unhook_dx9()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        m_dx9_present_hook = {};
+        m_dx9_reset_hook = {};
+        m_dx9_end_scene_hook = {};
+        m_is_dx9_hooked = false;
+    }
+
+    void HooksManager::set_on_dx9_present(dx9_present_callback callback)
+    {
+        std::unique_lock lock(m_dx9_present_mutex);
+        m_dx9_present_cb = callback ? std::make_shared<dx9_present_callback>(std::move(callback)) : nullptr;
+    }
+
+    void HooksManager::set_on_dx9_reset(dx9_reset_callback callback)
+    {
+        std::unique_lock lock(m_dx9_reset_mutex);
+        m_dx9_reset_cb = callback ? std::make_shared<dx9_reset_callback>(std::move(callback)) : nullptr;
+    }
+
+    void HooksManager::set_on_dx9_end_scene(dx9_end_scene_callback callback)
+    {
+        std::unique_lock lock(m_dx9_end_scene_mutex);
+        m_dx9_end_scene_cb = callback ? std::make_shared<dx9_end_scene_callback>(std::move(callback)) : nullptr;
+    }
+
+    bool HooksManager::hook_dx11()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        if (m_is_dx11_hooked)
+            return true;
+
+        const DummyWindow window;
+        if (!window.valid())
+            return false;
+
+        const HMODULE d3d11_module = GetModuleHandle("d3d11.dll");
+        if (!d3d11_module)
+            return false;
+
+        using d3d11_create_device_and_swap_chain_fn =
+                HRESULT(__stdcall*)(IDXGIAdapter*, D3D_DRIVER_TYPE, HMODULE, UINT, const D3D_FEATURE_LEVEL*, UINT, UINT,
+                                    const DXGI_SWAP_CHAIN_DESC*, IDXGISwapChain**, ID3D11Device**, D3D_FEATURE_LEVEL*,
+                                    ID3D11DeviceContext**);
+
+        const auto create_device_and_swap_chain = reinterpret_cast<d3d11_create_device_and_swap_chain_fn>(
+                GetProcAddress(d3d11_module, "D3D11CreateDeviceAndSwapChain"));
+        if (!create_device_and_swap_chain)
+            return false;
+
+        DXGI_SWAP_CHAIN_DESC swap_chain_desc{};
+        swap_chain_desc.BufferDesc.Width = 100;
+        swap_chain_desc.BufferDesc.Height = 100;
+        swap_chain_desc.BufferDesc.RefreshRate = {60, 1};
+        swap_chain_desc.BufferDesc.Format = DXGI_FORMAT_R8G8B8A8_UNORM;
+        swap_chain_desc.SampleDesc = {1, 0};
+        swap_chain_desc.BufferUsage = DXGI_USAGE_RENDER_TARGET_OUTPUT;
+        swap_chain_desc.BufferCount = 1;
+        swap_chain_desc.OutputWindow = window.handle();
+        swap_chain_desc.Windowed = TRUE;
+        swap_chain_desc.SwapEffect = DXGI_SWAP_EFFECT_DISCARD;
+
+        constexpr D3D_FEATURE_LEVEL feature_levels[] = {D3D_FEATURE_LEVEL_11_0};
+        ID3D11Device* device = nullptr;
+        ID3D11DeviceContext* device_context = nullptr;
+        IDXGISwapChain* swap_chain = nullptr;
+
+        if (FAILED(create_device_and_swap_chain(nullptr, D3D_DRIVER_TYPE_HARDWARE, nullptr, 0, feature_levels, 1,
+                                                D3D11_SDK_VERSION, &swap_chain_desc, &swap_chain, &device, nullptr,
+                                                &device_context)))
+            return false;
+
+        m_dx11_present_hook = safetyhook::create_inline(vtable_fn(swap_chain, 8), // IDXGISwapChain::Present
+                                                        reinterpret_cast<void*>(&dx11_present_detour));
+
+        m_dx11_resize_buffers_hook =
+                safetyhook::create_inline(vtable_fn(swap_chain, 13), // IDXGISwapChain::ResizeBuffers
+                                          reinterpret_cast<void*>(&dx11_resize_buffers_detour));
+
+        swap_chain->Release();
+        device_context->Release();
+        device->Release();
+
+        if (!m_dx11_present_hook || !m_dx11_resize_buffers_hook)
+        {
+            m_dx11_present_hook = {};
+            m_dx11_resize_buffers_hook = {};
+            return false;
+        }
+
+        m_is_dx11_hooked = true;
+        return true;
+    }
+
+    void HooksManager::unhook_dx11()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        m_dx11_present_hook = {};
+        m_dx11_resize_buffers_hook = {};
+        m_is_dx11_hooked = false;
+    }
+
+    bool HooksManager::hook_dx12()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        if (m_is_dx12_hooked)
+            return true;
+
+        const DummyWindow window;
+        if (!window.valid())
+            return false;
+
+        const auto fns = read_dx12_vtable_fns(window.handle());
+        if (!fns)
+            return false;
+
+        m_dx12_present_hook = safetyhook::create_inline(fns->present, reinterpret_cast<void*>(&dx12_present_detour));
+
+        m_dx12_resize_buffers_hook =
+                safetyhook::create_inline(fns->resize_buffers, reinterpret_cast<void*>(&dx12_resize_buffers_detour));
+
+        m_dx12_execute_command_lists_hook = safetyhook::create_inline(
+                fns->execute_command_lists, reinterpret_cast<void*>(&dx12_execute_command_lists_detour));
+
+        if (!m_dx12_present_hook || !m_dx12_resize_buffers_hook || !m_dx12_execute_command_lists_hook)
+        {
+            m_dx12_present_hook = {};
+            m_dx12_resize_buffers_hook = {};
+            m_dx12_execute_command_lists_hook = {};
+            return false;
+        }
+
+        m_is_dx12_hooked = true;
+        return true;
+    }
+
+    void HooksManager::unhook_dx12()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        m_dx12_present_hook = {};
+        m_dx12_resize_buffers_hook = {};
+        m_dx12_execute_command_lists_hook = {};
+        m_is_dx12_hooked = false;
+    }
+
+    bool HooksManager::hook_opengl()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        if (m_is_opengl_hooked)
+            return true;
+
+        if (void* wgl_swap_buffers = module_proc("opengl32.dll", "wglSwapBuffers"))
+        {
+            m_opengl_wgl_swap_buffers_hook = safetyhook::create_inline(
+                    wgl_swap_buffers, reinterpret_cast<void*>(&opengl_wgl_swap_buffers_detour));
+        }
+
+        if (void* swap_buffers = module_proc("gdi32.dll", "SwapBuffers"))
+        {
+            m_opengl_swap_buffers_hook =
+                    safetyhook::create_inline(swap_buffers, reinterpret_cast<void*>(&opengl_swap_buffers_detour));
+        }
+
+        if (!m_opengl_wgl_swap_buffers_hook && !m_opengl_swap_buffers_hook)
+        {
+            m_opengl_wgl_swap_buffers_hook = {};
+            m_opengl_swap_buffers_hook = {};
+            return false;
+        }
+
+        m_is_opengl_hooked = true;
+        return true;
+    }
+
+    void HooksManager::unhook_opengl()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        m_opengl_wgl_swap_buffers_hook = {};
+        m_opengl_swap_buffers_hook = {};
+        m_is_opengl_hooked = false;
+    }
+
+    void HooksManager::set_on_present(present_callback callback)
+    {
+        std::unique_lock lock(m_present_mutex);
+        m_present_cb = callback ? std::make_shared<present_callback>(std::move(callback)) : nullptr;
+    }
+
+    void HooksManager::set_on_resize_buffers(resize_buffers_callback callback)
+    {
+        std::unique_lock lock(m_resize_buffers_mutex);
+        m_resize_buffers_cb = callback ? std::make_shared<resize_buffers_callback>(std::move(callback)) : nullptr;
+    }
+
+    void HooksManager::set_on_execute_command_lists(execute_command_lists_callback callback)
+    {
+        std::unique_lock lock(m_execute_command_lists_mutex);
+        m_execute_command_lists_cb =
+                callback ? std::make_shared<execute_command_lists_callback>(std::move(callback)) : nullptr;
+    }
+
+    bool HooksManager::hook_wnd_proc(HWND hwnd)
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        if (m_is_wnd_proc_hooked)
+            return true;
+
+        const auto prev = reinterpret_cast<WNDPROC>(
+                SetWindowLongPtr(hwnd, GWLP_WNDPROC, reinterpret_cast<LONG_PTR>(&wnd_proc_detour)));
+        if (!prev)
+            return false;
+
+        m_hooked_hwnd = hwnd;
+        m_original_wndproc = prev;
+        m_is_wnd_proc_hooked = true;
+        return true;
+    }
+
+    void HooksManager::unhook_wnd_proc()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        if (!m_is_wnd_proc_hooked)
+            return;
+
+        SetWindowLongPtr(m_hooked_hwnd, GWLP_WNDPROC, reinterpret_cast<LONG_PTR>(m_original_wndproc));
+        m_hooked_hwnd = nullptr;
+        m_original_wndproc = nullptr;
+        m_is_wnd_proc_hooked = false;
+    }
+
+    void HooksManager::set_on_wnd_proc(wnd_proc_callback callback)
+    {
+        std::unique_lock lock(m_wnd_proc_mutex);
+        m_wnd_proc_cb = callback ? std::make_shared<wnd_proc_callback>(std::move(callback)) : nullptr;
+    }
+
+    // Detour implementations: copy a shared_ptr to the callback under shared lock, call it unlocked,
+    // then call original. This avoids copying captured lambda state every frame and still avoids
+    // a deadlock if the callback itself calls set_on_*().
+
+    HRESULT __stdcall HooksManager::dx9_present_detour(IDirect3DDevice9* p_device, const RECT* p_source_rect,
+                                                       const RECT* p_dest_rect, HWND h_dest_window_override,
+                                                       const RGNDATA* p_dirty_region)
+    {
+        auto& mgr = get();
+        callback_ptr<dx9_present_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_dx9_present_mutex);
+            cb = mgr.m_dx9_present_cb;
+        }
+        if (cb)
+            (*cb)(p_device, p_source_rect, p_dest_rect, h_dest_window_override, p_dirty_region);
+        return mgr.m_dx9_present_hook.call<HRESULT>(p_device, p_source_rect, p_dest_rect, h_dest_window_override,
+                                                    p_dirty_region);
+    }
+
+    HRESULT __stdcall HooksManager::dx9_reset_detour(IDirect3DDevice9* p_device,
+                                                     D3DPRESENT_PARAMETERS* p_presentation_parameters)
+    {
+        auto& mgr = get();
+        callback_ptr<dx9_reset_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_dx9_reset_mutex);
+            cb = mgr.m_dx9_reset_cb;
+        }
+        if (cb)
+            (*cb)(p_device, p_presentation_parameters);
+        return mgr.m_dx9_reset_hook.call<HRESULT>(p_device, p_presentation_parameters);
+    }
+
+    HRESULT __stdcall HooksManager::dx9_end_scene_detour(IDirect3DDevice9* p_device)
+    {
+        auto& mgr = get();
+        callback_ptr<dx9_end_scene_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_dx9_end_scene_mutex);
+            cb = mgr.m_dx9_end_scene_cb;
+        }
+        if (cb)
+            (*cb)(p_device);
+        return mgr.m_dx9_end_scene_hook.call<HRESULT>(p_device);
+    }
+
+    HRESULT __stdcall HooksManager::dx11_present_detour(IDXGISwapChain* p_swap_chain, UINT sync_interval, UINT flags)
+    {
+        auto& mgr = get();
+        callback_ptr<present_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_present_mutex);
+            cb = mgr.m_present_cb;
+        }
+        if (cb)
+            (*cb)(p_swap_chain, sync_interval, flags);
+        return mgr.m_dx11_present_hook.call<HRESULT>(p_swap_chain, sync_interval, flags);
+    }
+
+    HRESULT __stdcall HooksManager::dx11_resize_buffers_detour(IDXGISwapChain* p_swap_chain, UINT buffer_count,
+                                                               UINT width, UINT height, DXGI_FORMAT new_format,
+                                                               UINT swap_chain_flags)
+    {
+        auto& mgr = get();
+        callback_ptr<resize_buffers_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_resize_buffers_mutex);
+            cb = mgr.m_resize_buffers_cb;
+        }
+        if (cb)
+            (*cb)(p_swap_chain, buffer_count, width, height, new_format, swap_chain_flags);
+        return mgr.m_dx11_resize_buffers_hook.call<HRESULT>(p_swap_chain, buffer_count, width, height, new_format,
+                                                            swap_chain_flags);
+    }
+
+    HRESULT __stdcall HooksManager::dx12_present_detour(IDXGISwapChain* p_swap_chain, UINT sync_interval, UINT flags)
+    {
+        auto& mgr = get();
+        callback_ptr<present_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_present_mutex);
+            cb = mgr.m_present_cb;
+        }
+        if (cb)
+            (*cb)(p_swap_chain, sync_interval, flags);
+        return mgr.m_dx12_present_hook.call<HRESULT>(p_swap_chain, sync_interval, flags);
+    }
+
+    HRESULT __stdcall HooksManager::dx12_resize_buffers_detour(IDXGISwapChain* p_swap_chain, UINT buffer_count,
+                                                               UINT width, UINT height, DXGI_FORMAT new_format,
+                                                               UINT swap_chain_flags)
+    {
+        auto& mgr = get();
+        callback_ptr<resize_buffers_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_resize_buffers_mutex);
+            cb = mgr.m_resize_buffers_cb;
+        }
+        if (cb)
+            (*cb)(p_swap_chain, buffer_count, width, height, new_format, swap_chain_flags);
+        return mgr.m_dx12_resize_buffers_hook.call<HRESULT>(p_swap_chain, buffer_count, width, height, new_format,
+                                                            swap_chain_flags);
+    }
+
+    void __stdcall HooksManager::dx12_execute_command_lists_detour(ID3D12CommandQueue* p_command_queue,
+                                                                   UINT num_command_lists,
+                                                                   ID3D12CommandList* const* pp_command_lists)
+    {
+        auto& mgr = get();
+        callback_ptr<execute_command_lists_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_execute_command_lists_mutex);
+            cb = mgr.m_execute_command_lists_cb;
+        }
+        if (cb)
+            (*cb)(p_command_queue, num_command_lists, pp_command_lists);
+        mgr.m_dx12_execute_command_lists_hook.call<void>(p_command_queue, num_command_lists, pp_command_lists);
+    }
+
+    BOOL __stdcall HooksManager::opengl_wgl_swap_buffers_detour(HDC hdc)
+    {
+        auto& mgr = get();
+
+        if (!g_is_inside_opengl_swap_buffers)
+            return mgr.m_opengl_wgl_swap_buffers_hook.call<BOOL>(hdc);
+        g_is_inside_opengl_swap_buffers = true;
+
+        callback_ptr<opengl_swap_buffers_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_opengl_swap_buffers_mutex);
+            cb = mgr.m_opengl_swap_buffers_cb;
+        }
+        if (cb)
+            (*cb)(hdc);
+
+        const BOOL result = mgr.m_opengl_wgl_swap_buffers_hook.call<BOOL>(hdc);
+        g_is_inside_opengl_swap_buffers = false;
+        return result;
+    }
+
+    BOOL __stdcall HooksManager::opengl_swap_buffers_detour(HDC hdc)
+    {
+        auto& mgr = get();
+
+        if (g_is_inside_opengl_swap_buffers)
+            return mgr.m_opengl_swap_buffers_hook.call<BOOL>(hdc);
+        g_is_inside_opengl_swap_buffers = true;
+
+        callback_ptr<opengl_swap_buffers_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_opengl_swap_buffers_mutex);
+            cb = mgr.m_opengl_swap_buffers_cb;
+        }
+        if (cb)
+            (*cb)(hdc);
+
+        const BOOL result = mgr.m_opengl_swap_buffers_hook.call<BOOL>(hdc);
+        g_is_inside_opengl_swap_buffers = false;
+        return result;
+    }
+
+    LRESULT __stdcall HooksManager::wnd_proc_detour(HWND hwnd, UINT msg, WPARAM w_param, LPARAM l_param)
+    {
+        auto& mgr = get();
+        callback_ptr<wnd_proc_callback> cb;
+        WNDPROC original;
+        {
+            std::shared_lock lock(mgr.m_wnd_proc_mutex);
+            cb = mgr.m_wnd_proc_cb;
+            original = mgr.m_original_wndproc;
+        }
+        if (cb)
+        {
+            if (const auto result = (*cb)(hwnd, msg, w_param, l_param))
+                return *result;
+        }
+        return CallWindowProc(original, hwnd, msg, w_param, l_param);
+    }
+#endif // _WIN32
+
+#ifdef __linux__
+    bool HooksManager::hook_opengl()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        if (m_is_opengl_hooked)
+            return true;
+
+        void* glx_swap_buffers = dlsym(RTLD_DEFAULT, "glXSwapBuffers");
+        if (!glx_swap_buffers)
+            return false;
+
+        m_opengl_glx_swap_buffers_hook = safetyhook::create_inline(
+                glx_swap_buffers, reinterpret_cast<void*>(&opengl_glx_swap_buffers_detour));
+
+        if (!m_opengl_glx_swap_buffers_hook)
+            return false;
+
+        m_is_opengl_hooked = true;
+        return true;
+    }
+
+    void HooksManager::unhook_opengl()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        m_opengl_glx_swap_buffers_hook = {};
+        m_is_opengl_hooked = false;
+    }
+
+    void HooksManager::opengl_glx_swap_buffers_detour(Display* display, GLXDrawable drawable)
+    {
+        auto& mgr = get();
+        callback_ptr<opengl_swap_buffers_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_opengl_swap_buffers_mutex);
+            cb = mgr.m_opengl_swap_buffers_cb;
+        }
+        if (cb)
+            (*cb)(display, drawable);
+        mgr.m_opengl_glx_swap_buffers_hook.call<void>(display, drawable);
+    }
+#endif // __linux__
+
+    void HooksManager::set_on_opengl_swap_buffers(opengl_swap_buffers_callback callback)
+    {
+        std::unique_lock lock(m_opengl_swap_buffers_mutex);
+        m_opengl_swap_buffers_cb =
+                callback ? std::make_shared<opengl_swap_buffers_callback>(std::move(callback)) : nullptr;
+    }
+} // namespace omath::hooks
+
+#else // !OMATH_ENABLE_HOOKING
+
+namespace omath::hooks
+{
+    HooksManager& HooksManager::get()
+    {
+        static HooksManager obj;
+        return obj;
+    }
+    HooksManager::~HooksManager() = default;
+} // namespace omath::hooks
+
+#endif

source/hud/entity_overlay.cpp

@@ -5,10 +5,14 @@
 
 namespace omath::hud
 {
-    EntityOverlay& EntityOverlay::add_2d_box(const Color& box_color, const Color& fill_color, const float thickness)
+    EntityOverlay& EntityOverlay::add_2d_box(const Color& box_color, const Color& fill_color,
+                                             const Color& outline_color, const float thickness)
     {
         const auto points = m_canvas.as_array();
 
+        if (outline_color.value().w > 0.f)
+            m_renderer->add_polyline({points.data(), points.size()}, outline_color, thickness + 2.f);
+
         m_renderer->add_polyline({points.data(), points.size()}, box_color, thickness);
 
         if (fill_color.value().w > 0.f)
@@ -17,41 +21,46 @@ namespace omath::hud
         return *this;
     }
     EntityOverlay& EntityOverlay::add_cornered_2d_box(const Color& box_color, const Color& fill_color,
-                                                      const float corner_ratio_len, const float thickness)
+                                                      const Color& outline_color, const float corner_ratio_len,
+                                                      const float thickness)
     {
         const auto corner_line_length =
                 std::abs((m_canvas.top_left_corner - m_canvas.top_right_corner).x * corner_ratio_len);
 
         if (fill_color.value().w > 0.f)
             add_2d_box(fill_color, fill_color);
+
+        const auto draw_corner_line = [&](const Vector2<float>& a, const Vector2<float>& b)
+        {
+            if (outline_color.value().w > 0.f)
+                m_renderer->add_line(a, b, outline_color, thickness + 2.f);
+            m_renderer->add_line(a, b, box_color, thickness);
+        };
+
         // Left Side
-        m_renderer->add_line(m_canvas.top_left_corner,
+        draw_corner_line(m_canvas.top_left_corner,
-                             m_canvas.top_left_corner + Vector2<float>{corner_line_length, 0.f}, box_color, thickness);
+                         m_canvas.top_left_corner + Vector2<float>{corner_line_length, 0.f});
 
-        m_renderer->add_line(m_canvas.top_left_corner,
+        draw_corner_line(m_canvas.top_left_corner,
-                             m_canvas.top_left_corner + Vector2<float>{0.f, corner_line_length}, box_color, thickness);
+                         m_canvas.top_left_corner + Vector2<float>{0.f, corner_line_length});
 
-        m_renderer->add_line(m_canvas.bottom_left_corner,
+        draw_corner_line(m_canvas.bottom_left_corner,
-                             m_canvas.bottom_left_corner - Vector2<float>{0.f, corner_line_length}, box_color,
+                         m_canvas.bottom_left_corner - Vector2<float>{0.f, corner_line_length});
-                             thickness);
 
-        m_renderer->add_line(m_canvas.bottom_left_corner,
+        draw_corner_line(m_canvas.bottom_left_corner,
-                             m_canvas.bottom_left_corner + Vector2<float>{corner_line_length, 0.f}, box_color,
+                         m_canvas.bottom_left_corner + Vector2<float>{corner_line_length, 0.f});
-                             thickness);
         // Right Side
-        m_renderer->add_line(m_canvas.top_right_corner,
+        draw_corner_line(m_canvas.top_right_corner,
-                             m_canvas.top_right_corner - Vector2<float>{corner_line_length, 0.f}, box_color, thickness);
+                         m_canvas.top_right_corner - Vector2<float>{corner_line_length, 0.f});
 
-        m_renderer->add_line(m_canvas.top_right_corner,
+        draw_corner_line(m_canvas.top_right_corner,
-                             m_canvas.top_right_corner + Vector2<float>{0.f, corner_line_length}, box_color, thickness);
+                         m_canvas.top_right_corner + Vector2<float>{0.f, corner_line_length});
 
-        m_renderer->add_line(m_canvas.bottom_right_corner,
+        draw_corner_line(m_canvas.bottom_right_corner,
-                             m_canvas.bottom_right_corner - Vector2<float>{0.f, corner_line_length}, box_color,
+                         m_canvas.bottom_right_corner - Vector2<float>{0.f, corner_line_length});
-                             thickness);
 
-        m_renderer->add_line(m_canvas.bottom_right_corner,
+        draw_corner_line(m_canvas.bottom_right_corner,
-                             m_canvas.bottom_right_corner - Vector2<float>{corner_line_length, 0.f}, box_color,
+                         m_canvas.bottom_right_corner - Vector2<float>{corner_line_length, 0.f});
-                             thickness);
 
         return *this;
     }
@@ -591,12 +600,13 @@ namespace omath::hud
     // ── widget dispatch ───────────────────────────────────────────────────────
     void EntityOverlay::dispatch(const widget::Box& box)
     {
-        add_2d_box(box.color, box.fill, box.thickness);
+        add_2d_box(box.color, box.fill, box.outline, box.thickness);
     }
 
     void EntityOverlay::dispatch(const widget::CorneredBox& cornered_box)
     {
-        add_cornered_2d_box(cornered_box.color, cornered_box.fill, cornered_box.corner_ratio, cornered_box.thickness);
+        add_cornered_2d_box(cornered_box.color, cornered_box.fill, cornered_box.outline, cornered_box.corner_ratio,
+                            cornered_box.thickness);
     }
 
     void EntityOverlay::dispatch(const widget::DashedBox& dashed_box)

source/lua/lua.cpp

@@ -17,8 +17,13 @@ namespace omath::lua
         register_vec2(omath_table);
         register_vec3(omath_table);
         register_vec4(omath_table);
+        register_matrices(omath_table);
+        register_quaternion(omath_table);
         register_color(omath_table);
+        register_hud(omath_table);
         register_triangle(omath_table);
+        register_3d_primitives(omath_table);
+        register_collision(omath_table);
         register_shared_types(omath_table);
         register_engines(omath_table);
         register_pattern_scan(omath_table);

source/lua/lua_collision.cpp

@@ -0,0 +1,304 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <omath/3d_primitives/aabb.hpp>
+#include <omath/3d_primitives/obb.hpp>
+#include <omath/collision/collider_interface.hpp>
+#include <omath/collision/epa_algorithm.hpp>
+#include <omath/collision/gjk_algorithm.hpp>
+#include <omath/collision/line_tracer.hpp>
+#include <omath/linear_algebra/triangle.hpp>
+#include <omath/linear_algebra/vector3.hpp>
+#include <sol/sol.hpp>
+#include <algorithm>
+#include <stdexcept>
+#include <vector>
+
+namespace
+{
+    using Vec3f = omath::Vector3<float>;
+    using Triangle3f = omath::Triangle<Vec3f>;
+    using Ray3f = omath::collision::Ray<Vec3f>;
+    using LineTracer3f = omath::collision::LineTracer<Ray3f>;
+    using Aabbf = omath::primitives::Aabb<float>;
+    using Obbf = omath::primitives::Obb<float>;
+
+    template<class Object, class Value>
+    auto lua_field(Value Object::* member)
+    {
+        return sol::property(
+                [member](const Object& object) -> const Value&
+                {
+                    return object.*member;
+                },
+                [member](Object& object, const Value& value)
+                {
+                    object.*member = value;
+                });
+    }
+
+    class LuaConvexCollider final : public omath::collision::ColliderInterface<Vec3f>
+    {
+    public:
+        using VectorType = Vec3f;
+
+        explicit LuaConvexCollider(std::vector<Vec3f> vertices, const Vec3f& origin = {})
+            : m_vertices(std::move(vertices)), m_origin(origin)
+        {
+            if (m_vertices.empty())
+                throw std::invalid_argument("convex collider must contain at least one vertex");
+        }
+
+        [[nodiscard]]
+        Vec3f find_abs_furthest_vertex_position(const Vec3f& direction) const override
+        {
+            const auto furthest = std::ranges::max_element(
+                    m_vertices,
+                    [&direction](const Vec3f& first, const Vec3f& second)
+                    {
+                        return first.dot(direction) < second.dot(direction);
+                    });
+
+            return m_origin + *furthest;
+        }
+
+        [[nodiscard]]
+        const Vec3f& get_origin() const override
+        {
+            return m_origin;
+        }
+
+        void set_origin(const Vec3f& new_origin) override
+        {
+            m_origin = new_origin;
+        }
+
+        [[nodiscard]]
+        std::size_t vertex_count() const noexcept
+        {
+            return m_vertices.size();
+        }
+
+        [[nodiscard]]
+        const std::vector<Vec3f>& vertices() const noexcept
+        {
+            return m_vertices;
+        }
+
+    private:
+        std::vector<Vec3f> m_vertices;
+        Vec3f m_origin;
+    };
+
+    std::vector<Vec3f> vec3_table_to_vector(const sol::table& points)
+    {
+        std::vector<Vec3f> result;
+        for (std::size_t i = 1;; ++i)
+        {
+            const auto point = points[i].get<sol::optional<Vec3f>>();
+            if (!point)
+                break;
+            result.push_back(*point);
+        }
+        return result;
+    }
+
+    sol::table vec3_array_to_table(const auto& points, sol::this_state state)
+    {
+        sol::state_view lua(state);
+        sol::table result = lua.create_table(static_cast<int>(points.size()), 0);
+        for (std::size_t i = 0; i < points.size(); ++i)
+            result[i + 1] = points[i];
+        return result;
+    }
+
+    Vec3f aabb_top(const Aabbf& aabb, const omath::primitives::UpAxis axis)
+    {
+        switch (axis)
+        {
+        case omath::primitives::UpAxis::X:
+            return aabb.top<omath::primitives::UpAxis::X>();
+        case omath::primitives::UpAxis::Y:
+            return aabb.top<omath::primitives::UpAxis::Y>();
+        case omath::primitives::UpAxis::Z:
+            return aabb.top<omath::primitives::UpAxis::Z>();
+        }
+        std::unreachable();
+    }
+
+    Vec3f aabb_bottom(const Aabbf& aabb, const omath::primitives::UpAxis axis)
+    {
+        switch (axis)
+        {
+        case omath::primitives::UpAxis::X:
+            return aabb.bottom<omath::primitives::UpAxis::X>();
+        case omath::primitives::UpAxis::Y:
+            return aabb.bottom<omath::primitives::UpAxis::Y>();
+        case omath::primitives::UpAxis::Z:
+            return aabb.bottom<omath::primitives::UpAxis::Z>();
+        }
+        std::unreachable();
+    }
+
+    bool ray_hits_triangle(const Ray3f& ray, const Triangle3f& triangle)
+    {
+        return !(LineTracer3f::get_ray_hit_point(ray, triangle) == ray.end);
+    }
+
+    bool ray_hits_aabb(const Ray3f& ray, const Aabbf& aabb)
+    {
+        return !(LineTracer3f::get_ray_hit_point(ray, aabb) == ray.end);
+    }
+
+    bool ray_hits_obb(const Ray3f& ray, const Obbf& obb)
+    {
+        return !(LineTracer3f::get_ray_hit_point(ray, obb) == ray.end);
+    }
+} // namespace
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_3d_primitives(sol::table& omath_table)
+    {
+        auto primitives_table = omath_table["primitives"].get_or_create<sol::table>();
+
+        primitives_table.new_enum("UpAxis", "X", omath::primitives::UpAxis::X, "Y", omath::primitives::UpAxis::Y, "Z",
+                                  omath::primitives::UpAxis::Z);
+
+        primitives_table.new_usertype<Aabbf>(
+                "Aabb",
+                sol::factories([]() { return Aabbf{}; },
+                               [](const Vec3f& min, const Vec3f& max) { return Aabbf{min, max}; }),
+
+                "min", lua_field(&Aabbf::min), "max", lua_field(&Aabbf::max), "center", &Aabbf::center, "extents",
+                &Aabbf::extents,
+                "top",
+                [](const Aabbf& aabb, sol::optional<omath::primitives::UpAxis> axis)
+                {
+                    return aabb_top(aabb, axis.value_or(omath::primitives::UpAxis::Y));
+                },
+                "bottom",
+                [](const Aabbf& aabb, sol::optional<omath::primitives::UpAxis> axis)
+                {
+                    return aabb_bottom(aabb, axis.value_or(omath::primitives::UpAxis::Y));
+                },
+                "is_collide", &Aabbf::is_collide,
+                "as_table",
+                [](const Aabbf& aabb, sol::this_state state) -> sol::table
+                {
+                    sol::state_view lua(state);
+                    sol::table result = lua.create_table();
+                    result["min"] = aabb.min;
+                    result["max"] = aabb.max;
+                    return result;
+                });
+
+        primitives_table.new_usertype<Obbf>(
+                "Obb",
+                sol::factories(
+                        []()
+                        {
+                            return Obbf{};
+                        },
+                        [](const Vec3f& center, const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z,
+                           const Vec3f& half_extents)
+                        {
+                            return Obbf{center, axis_x, axis_y, axis_z, half_extents};
+                        }),
+
+                "center", lua_field(&Obbf::center), "axis_x", lua_field(&Obbf::axis_x), "axis_y",
+                lua_field(&Obbf::axis_y), "axis_z", lua_field(&Obbf::axis_z), "half_extents",
+                lua_field(&Obbf::half_extents),
+                "vertices",
+                [](const Obbf& obb, sol::this_state state)
+                {
+                    return vec3_array_to_table(obb.vertices(), state);
+                });
+    }
+
+    void LuaInterpreter::register_collision(sol::table& omath_table)
+    {
+        auto collision_table = omath_table["collision"].get_or_create<sol::table>();
+
+        collision_table.new_usertype<Ray3f>(
+                "Ray",
+                sol::factories([]() { return Ray3f{}; },
+                               [](const Vec3f& start, const Vec3f& end) { return Ray3f{start, end}; },
+                               [](const Vec3f& start, const Vec3f& end, const bool infinite_length)
+                               { return Ray3f{start, end, infinite_length}; }),
+
+                "start", lua_field(&Ray3f::start), "end", lua_field(&Ray3f::end), "infinite_length",
+                lua_field(&Ray3f::infinite_length),
+                "direction_vector", &Ray3f::direction_vector, "direction_vector_normalized",
+                &Ray3f::direction_vector_normalized);
+
+        collision_table.new_usertype<LuaConvexCollider>(
+                "ConvexCollider",
+                sol::factories([](const sol::table& vertices) { return LuaConvexCollider(vec3_table_to_vector(vertices)); },
+                               [](const sol::table& vertices, const Vec3f& origin)
+                               { return LuaConvexCollider(vec3_table_to_vector(vertices), origin); }),
+
+                "find_abs_furthest_vertex_position", &LuaConvexCollider::find_abs_furthest_vertex_position,
+                "get_origin", &LuaConvexCollider::get_origin, "set_origin", &LuaConvexCollider::set_origin,
+                "vertex_count", &LuaConvexCollider::vertex_count,
+                "vertices",
+                [](const LuaConvexCollider& collider, sol::this_state state)
+                {
+                    return vec3_array_to_table(collider.vertices(), state);
+                });
+
+        collision_table.new_usertype<LineTracer3f>(
+                "LineTracer", sol::no_constructor, "can_trace_line", &LineTracer3f::can_trace_line,
+                "get_ray_hit_point",
+                sol::overload(
+                        [](const Ray3f& ray, const Triangle3f& triangle)
+                        {
+                            return LineTracer3f::get_ray_hit_point(ray, triangle);
+                        },
+                        [](const Ray3f& ray, const Aabbf& aabb)
+                        {
+                            return LineTracer3f::get_ray_hit_point(ray, aabb);
+                        },
+                        [](const Ray3f& ray, const Obbf& obb)
+                        {
+                            return LineTracer3f::get_ray_hit_point(ray, obb);
+                        }),
+                "ray_hits_triangle", &ray_hits_triangle, "ray_hits_aabb", &ray_hits_aabb, "ray_hits_obb",
+                &ray_hits_obb);
+
+        collision_table["gjk_support_vertex"] =
+                [](const LuaConvexCollider& collider_a, const LuaConvexCollider& collider_b, const Vec3f& direction)
+        { return omath::collision::GjkAlgorithm<LuaConvexCollider>::find_support_vertex(collider_a, collider_b, direction); };
+
+        collision_table["gjk_collide"] = [](const LuaConvexCollider& collider_a, const LuaConvexCollider& collider_b)
+        { return omath::collision::GjkAlgorithm<LuaConvexCollider>::is_collide(collider_a, collider_b); };
+
+        collision_table["epa_solve"] = [](const LuaConvexCollider& collider_a, const LuaConvexCollider& collider_b,
+                                          sol::this_state state) -> sol::object
+        {
+            using Gjk = omath::collision::GjkAlgorithm<LuaConvexCollider>;
+            using Epa = omath::collision::Epa<LuaConvexCollider>;
+
+            sol::state_view lua(state);
+            const auto gjk = Gjk::is_collide_with_simplex_info(collider_a, collider_b);
+            if (!gjk.hit)
+                return sol::nil;
+
+            const auto epa = Epa::solve(collider_a, collider_b, gjk.simplex);
+            if (!epa)
+                return sol::nil;
+
+            sol::table result = lua.create_table();
+            result["normal"] = epa->normal;
+            result["penetration_vector"] = epa->penetration_vector;
+            result["depth"] = epa->depth;
+            result["iterations"] = epa->iterations;
+            result["num_vertices"] = epa->num_vertices;
+            result["num_faces"] = epa->num_faces;
+            return sol::make_object(lua, result);
+        };
+    }
+} // namespace omath::lua
+#endif

source/lua/lua_engines.cpp

@@ -14,6 +14,8 @@
 #include <omath/engines/unreal_engine/camera.hpp>
 #include <sol/sol.hpp>
 #include <string_view>
+#include <type_traits>
+#include <utility>
 
 namespace
 {
@@ -78,50 +80,79 @@ namespace
     }
 
     // Register an engine: alias shared types, register unique Camera
-    template<class EngineTraits>
+    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);
 
-        engine_table.new_usertype<Camera>(
+        auto camera_type = engine_table.new_usertype<Camera>(
                 "Camera",
-                sol::constructors<Camera(const omath::Vector3<float>&, const ViewAngles&,
+                sol::constructors<Camera(const omath::Vector3<ArithmeticType>&, const ViewAngles&,
                                          const omath::projection::ViewPort&, const omath::projection::FieldOfView&,
-                                         float, float)>(),
+                                         ArithmeticType, ArithmeticType)>());
-                "look_at", &Camera::look_at, "get_forward", &Camera::get_forward, "get_right", &Camera::get_right,
-                "get_up", &Camera::get_up, "get_origin", &Camera::get_origin, "get_view_angles",
-                &Camera::get_view_angles, "get_near_plane", &Camera::get_near_plane, "get_far_plane",
-                &Camera::get_far_plane, "get_field_of_view", &Camera::get_field_of_view, "set_origin",
-                &Camera::set_origin, "set_view_angles", &Camera::set_view_angles, "set_view_port",
-                &Camera::set_view_port, "set_field_of_view", &Camera::set_field_of_view, "set_near_plane",
-                &Camera::set_near_plane, "set_far_plane", &Camera::set_far_plane,
 
-                "world_to_screen",
+        camera_type["look_at"] = &Camera::look_at;
-                [](const Camera& cam, const omath::Vector3<float>& pos)
+        camera_type["get_forward"] = &Camera::get_forward;
-                        -> std::tuple<sol::optional<omath::Vector3<float>>, sol::optional<std::string>>
+        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())};
-                },
+        };
 
-                "screen_to_world",
+        camera_type["screen_to_world"] = [](const Camera& cam, const omath::Vector3<ArithmeticType>& pos)
-                [](const Camera& cam, const omath::Vector3<float>& pos)
+                -> std::tuple<sol::optional<omath::Vector3<ArithmeticType>>, sol::optional<std::string>>
-                        -> std::tuple<sol::optional<omath::Vector3<float>>, 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 -----------------------------------------------
@@ -224,7 +255,7 @@ namespace omath::lua
         register_engine<IWEngineTraits>(omath_table, "iw");
         register_engine<SourceEngineTraits>(omath_table, "source");
         register_engine<UnityEngineTraits>(omath_table, "unity");
-        register_engine<UnrealEngineTraits>(omath_table, "unreal");
+        register_engine<UnrealEngineTraits, double>(omath_table, "unreal");
         register_engine<CryEngineTraits>(omath_table, "cry");
     }
 } // namespace omath::lua::detail

source/lua/lua_hud.cpp

@@ -0,0 +1,519 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <omath/hud/canvas_box.hpp>
+#include <omath/hud/entity_overlay.hpp>
+#include <sol/sol.hpp>
+#include <any>
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+namespace
+{
+    [[noreturn]]
+    void throw_lua_error(sol::protected_function_result& result)
+    {
+        sol::error err = result;
+        throw err;
+    }
+
+    class LuaHudRenderer final : public omath::hud::HudRendererInterface
+    {
+    public:
+        explicit LuaHudRenderer(sol::table callbacks): m_callbacks(std::move(callbacks))
+        {
+        }
+
+        void add_line(const omath::Vector2<float>& line_start, const omath::Vector2<float>& line_end,
+                      const omath::Color& color, const float thickness) override
+        {
+            call_optional("add_line", line_start, line_end, color, thickness);
+        }
+
+        void add_polyline(const std::span<const omath::Vector2<float>>& vertexes, const omath::Color& color,
+                          const float thickness) override
+        {
+            call_optional("add_polyline", make_points_table(vertexes), color, thickness);
+        }
+
+        void add_filled_polyline(const std::span<const omath::Vector2<float>>& vertexes,
+                                 const omath::Color& color) override
+        {
+            call_optional("add_filled_polyline", make_points_table(vertexes), color);
+        }
+
+        void add_rectangle(const omath::Vector2<float>& min, const omath::Vector2<float>& max,
+                           const omath::Color& color) override
+        {
+            call_optional("add_rectangle", min, max, color);
+        }
+
+        void add_filled_rectangle(const omath::Vector2<float>& min, const omath::Vector2<float>& max,
+                                  const omath::Color& color) override
+        {
+            call_optional("add_filled_rectangle", min, max, color);
+        }
+
+        void add_circle(const omath::Vector2<float>& center, const float radius, const omath::Color& color,
+                        const float thickness, const int segments) override
+        {
+            call_optional("add_circle", center, radius, color, thickness, segments);
+        }
+
+        void add_filled_circle(const omath::Vector2<float>& center, const float radius, const omath::Color& color,
+                               const int segments) override
+        {
+            call_optional("add_filled_circle", center, radius, color, segments);
+        }
+
+        void add_arc(const omath::Vector2<float>& center, const float radius, const float a_min, const float a_max,
+                     const omath::Color& color, const float thickness, const int segments) override
+        {
+            call_optional("add_arc", center, radius, a_min, a_max, color, thickness, segments);
+        }
+
+        void add_image(const std::any& texture_id, const omath::Vector2<float>& min, const omath::Vector2<float>& max,
+                       const omath::Color& tint) override
+        {
+            const auto callback = callback_for("add_image");
+            if (!callback)
+                return;
+
+            sol::object texture = sol::nil;
+            if (const auto lua_object = std::any_cast<sol::object>(&texture_id))
+                texture = *lua_object;
+
+            auto result = (*callback)(texture, min, max, tint);
+            if (!result.valid())
+                throw_lua_error(result);
+        }
+
+        void add_text(const omath::Vector2<float>& position, const omath::Color& color,
+                      const std::string_view& text) override
+        {
+            call_optional("add_text", position, color, std::string{text});
+        }
+
+        [[nodiscard]]
+        omath::Vector2<float> calc_text_size(const std::string_view& text) override
+        {
+            const auto callback = callback_for("calc_text_size");
+            if (!callback)
+                return {};
+
+            auto result = (*callback)(std::string{text});
+            if (!result.valid())
+                throw_lua_error(result);
+
+            return result.get<omath::Vector2<float>>();
+        }
+
+    private:
+        sol::main_table m_callbacks;
+
+        [[nodiscard]]
+        sol::optional<sol::protected_function> callback_for(const char* name) const
+        {
+            const sol::object callback = m_callbacks[name];
+            if (!callback.valid() || callback == sol::nil)
+                return sol::nullopt;
+            return callback.as<sol::protected_function>();
+        }
+
+        template<class... Args>
+        void call_optional(const char* name, Args&&... args) const
+        {
+            const auto callback = callback_for(name);
+            if (!callback)
+                return;
+
+            auto result = (*callback)(std::forward<Args>(args)...);
+            if (!result.valid())
+                throw_lua_error(result);
+        }
+
+        [[nodiscard]]
+        sol::table make_points_table(const std::span<const omath::Vector2<float>>& vertexes) const
+        {
+            sol::state_view lua(m_callbacks.lua_state());
+            sol::table points = lua.create_table(static_cast<int>(vertexes.size()), 0);
+            for (std::size_t i = 0; i < vertexes.size(); ++i)
+                points[i + 1] = vertexes[i];
+            return points;
+        }
+    };
+
+    [[nodiscard]]
+    omath::Color transparent_black()
+    {
+        return {0.f, 0.f, 0.f, 0.f};
+    }
+
+    [[nodiscard]]
+    omath::Color opaque_white()
+    {
+        return {1.f, 1.f, 1.f, 1.f};
+    }
+
+    [[nodiscard]]
+    omath::hud::EntityOverlay make_overlay(const omath::Vector2<float>& top, const omath::Vector2<float>& bottom,
+                                           const std::shared_ptr<LuaHudRenderer>& renderer)
+    {
+        if (!renderer)
+            throw std::invalid_argument("hud renderer must not be nil");
+        return {top, bottom, renderer};
+    }
+
+    [[nodiscard]]
+    std::any texture_id_from_lua_object(const sol::object& texture_id)
+    {
+        return texture_id;
+    }
+
+    std::vector<omath::Vector2<float>> points_from_table(const sol::table& points)
+    {
+        std::vector<omath::Vector2<float>> result;
+        for (std::size_t i = 1;; ++i)
+        {
+            const auto point = points[i].get<sol::optional<omath::Vector2<float>>>();
+            if (!point)
+                break;
+            result.push_back(*point);
+        }
+        return result;
+    }
+
+    template<class Object, class Value>
+    auto lua_field(Value Object::* member)
+    {
+        return sol::property(
+                [member](const Object& object) -> const Value&
+                {
+                    return object.*member;
+                },
+                [member](Object& object, const Value& value)
+                {
+                    object.*member = value;
+                });
+    }
+} // namespace
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_hud(sol::table& omath_table)
+    {
+        auto hud_table = omath_table["hud"].get_or_create<sol::table>();
+
+        hud_table.new_usertype<omath::hud::CanvasBox>(
+                "CanvasBox",
+                sol::factories([](const omath::Vector2<float>& top, const omath::Vector2<float>& bottom)
+                               { return omath::hud::CanvasBox(top, bottom); },
+                               [](const omath::Vector2<float>& top, const omath::Vector2<float>& bottom,
+                                  const float ratio) { return omath::hud::CanvasBox(top, bottom, ratio); }),
+
+                "top_left_corner", lua_field(&omath::hud::CanvasBox::top_left_corner), "top_right_corner",
+                lua_field(&omath::hud::CanvasBox::top_right_corner), "bottom_left_corner",
+                lua_field(&omath::hud::CanvasBox::bottom_left_corner), "bottom_right_corner",
+                lua_field(&omath::hud::CanvasBox::bottom_right_corner),
+
+                "as_table",
+                [](const omath::hud::CanvasBox& box, sol::this_state s) -> sol::table
+                {
+                    sol::state_view lua(s);
+                    sol::table t = lua.create_table(4, 0);
+                    const auto points = box.as_array();
+                    for (std::size_t i = 0; i < points.size(); ++i)
+                        t[i + 1] = points[i];
+                    return t;
+                });
+
+        hud_table.new_usertype<LuaHudRenderer>(
+                "Renderer",
+                sol::factories([](const sol::table& callbacks)
+                               { return std::make_shared<LuaHudRenderer>(callbacks); }),
+
+                "add_line", &LuaHudRenderer::add_line,
+                "add_polyline",
+                [](LuaHudRenderer& renderer, const sol::table& points, const omath::Color& color,
+                   const float thickness)
+                {
+                    const auto vertices = points_from_table(points);
+                    renderer.add_polyline({vertices.data(), vertices.size()}, color, thickness);
+                },
+                "add_filled_polyline",
+                [](LuaHudRenderer& renderer, const sol::table& points, const omath::Color& color)
+                {
+                    const auto vertices = points_from_table(points);
+                    renderer.add_filled_polyline({vertices.data(), vertices.size()}, color);
+                },
+                "add_rectangle", &LuaHudRenderer::add_rectangle, "add_filled_rectangle",
+                &LuaHudRenderer::add_filled_rectangle, "add_circle",
+                [](LuaHudRenderer& renderer, const omath::Vector2<float>& center, const float radius,
+                   const omath::Color& color, const float thickness, sol::optional<int> segments)
+                {
+                    renderer.add_circle(center, radius, color, thickness, segments.value_or(0));
+                },
+                "add_filled_circle",
+                [](LuaHudRenderer& renderer, const omath::Vector2<float>& center, const float radius,
+                   const omath::Color& color, sol::optional<int> segments)
+                {
+                    renderer.add_filled_circle(center, radius, color, segments.value_or(0));
+                },
+                "add_arc",
+                [](LuaHudRenderer& renderer, const omath::Vector2<float>& center, const float radius,
+                   const float a_min, const float a_max, const omath::Color& color, const float thickness,
+                   sol::optional<int> segments)
+                {
+                    renderer.add_arc(center, radius, a_min, a_max, color, thickness, segments.value_or(0));
+                },
+                "add_image",
+                [](LuaHudRenderer& renderer, const sol::object& texture_id, const omath::Vector2<float>& min,
+                   const omath::Vector2<float>& max, sol::optional<omath::Color> tint)
+                {
+                    renderer.add_image(texture_id_from_lua_object(texture_id), min, max,
+                                       tint.value_or(opaque_white()));
+                },
+                "add_text", &LuaHudRenderer::add_text, "calc_text_size", &LuaHudRenderer::calc_text_size);
+
+        hud_table.new_usertype<omath::hud::EntityOverlay>(
+                "EntityOverlay",
+                sol::factories(&make_overlay),
+
+                "add_2d_box",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& box_color,
+                   sol::optional<omath::Color> fill_color, sol::optional<omath::Color> outline_color,
+                   sol::optional<float> thickness) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_2d_box(box_color, fill_color.value_or(transparent_black()),
+                                              outline_color.value_or(transparent_black()), thickness.value_or(1.f));
+                },
+                "add_cornered_2d_box",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& box_color,
+                   sol::optional<omath::Color> fill_color, sol::optional<omath::Color> outline_color,
+                   sol::optional<float> corner_ratio_len,
+                   sol::optional<float> thickness) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_cornered_2d_box(box_color, fill_color.value_or(transparent_black()),
+                                                       outline_color.value_or(transparent_black()),
+                                                       corner_ratio_len.value_or(0.2f), thickness.value_or(1.f));
+                },
+                "add_dashed_box",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, sol::optional<float> dash_len,
+                   sol::optional<float> gap_len, sol::optional<float> thickness) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_dashed_box(color, dash_len.value_or(8.f), gap_len.value_or(5.f),
+                                                  thickness.value_or(1.f));
+                },
+
+                "add_right_bar",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& outline_color,
+                   const omath::Color& bg_color, const float width, const float ratio,
+                   sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_right_bar(color, outline_color, bg_color, width, ratio, offset.value_or(5.f));
+                },
+                "add_left_bar",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& outline_color,
+                   const omath::Color& bg_color, const float width, const float ratio,
+                   sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_left_bar(color, outline_color, bg_color, width, ratio, offset.value_or(5.f));
+                },
+                "add_top_bar",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& outline_color,
+                   const omath::Color& bg_color, const float height, const float ratio,
+                   sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_top_bar(color, outline_color, bg_color, height, ratio, offset.value_or(5.f));
+                },
+                "add_bottom_bar",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& outline_color,
+                   const omath::Color& bg_color, const float height, const float ratio,
+                   sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_bottom_bar(color, outline_color, bg_color, height, ratio, offset.value_or(5.f));
+                },
+                "add_right_dashed_bar",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& outline_color,
+                   const omath::Color& bg_color, const float width, const float ratio, const float dash_len,
+                   const float gap_len, sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_right_dashed_bar(color, outline_color, bg_color, width, ratio, dash_len, gap_len,
+                                                        offset.value_or(5.f));
+                },
+                "add_left_dashed_bar",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& outline_color,
+                   const omath::Color& bg_color, const float width, const float ratio, const float dash_len,
+                   const float gap_len, sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_left_dashed_bar(color, outline_color, bg_color, width, ratio, dash_len, gap_len,
+                                                       offset.value_or(5.f));
+                },
+                "add_top_dashed_bar",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& outline_color,
+                   const omath::Color& bg_color, const float height, const float ratio, const float dash_len,
+                   const float gap_len, sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_top_dashed_bar(color, outline_color, bg_color, height, ratio, dash_len, gap_len,
+                                                      offset.value_or(5.f));
+                },
+                "add_bottom_dashed_bar",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& outline_color,
+                   const omath::Color& bg_color, const float height, const float ratio, const float dash_len,
+                   const float gap_len, sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_bottom_dashed_bar(color, outline_color, bg_color, height, ratio, dash_len,
+                                                         gap_len, offset.value_or(5.f));
+                },
+
+                "add_right_label",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const float offset,
+                   const bool outlined, const std::string& text) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_right_label(color, offset, outlined, text);
+                },
+                "add_left_label",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const float offset,
+                   const bool outlined, const std::string& text) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_left_label(color, offset, outlined, text);
+                },
+                "add_top_label",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const float offset,
+                   const bool outlined, const std::string& text) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_top_label(color, offset, outlined, text);
+                },
+                "add_bottom_label",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const float offset,
+                   const bool outlined, const std::string& text) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_bottom_label(color, offset, outlined, text);
+                },
+                "add_centered_top_label",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const float offset,
+                   const bool outlined, const std::string& text) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_centered_top_label(color, offset, outlined, text);
+                },
+                "add_centered_bottom_label",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const float offset,
+                   const bool outlined, const std::string& text) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_centered_bottom_label(color, offset, outlined, text);
+                },
+
+                "add_right_space_vertical", &omath::hud::EntityOverlay::add_right_space_vertical,
+                "add_right_space_horizontal", &omath::hud::EntityOverlay::add_right_space_horizontal,
+                "add_left_space_vertical", &omath::hud::EntityOverlay::add_left_space_vertical,
+                "add_left_space_horizontal", &omath::hud::EntityOverlay::add_left_space_horizontal,
+                "add_top_space_vertical", &omath::hud::EntityOverlay::add_top_space_vertical,
+                "add_top_space_horizontal", &omath::hud::EntityOverlay::add_top_space_horizontal,
+                "add_bottom_space_vertical", &omath::hud::EntityOverlay::add_bottom_space_vertical,
+                "add_bottom_space_horizontal", &omath::hud::EntityOverlay::add_bottom_space_horizontal,
+
+                "add_right_progress_ring",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& bg,
+                   const float radius, const float ratio, sol::optional<float> thickness, sol::optional<float> offset,
+                   sol::optional<int> segments) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_right_progress_ring(color, bg, radius, ratio, thickness.value_or(2.f),
+                                                           offset.value_or(5.f), segments.value_or(0));
+                },
+                "add_left_progress_ring",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& bg,
+                   const float radius, const float ratio, sol::optional<float> thickness, sol::optional<float> offset,
+                   sol::optional<int> segments) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_left_progress_ring(color, bg, radius, ratio, thickness.value_or(2.f),
+                                                          offset.value_or(5.f), segments.value_or(0));
+                },
+                "add_top_progress_ring",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& bg,
+                   const float radius, const float ratio, sol::optional<float> thickness, sol::optional<float> offset,
+                   sol::optional<int> segments) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_top_progress_ring(color, bg, radius, ratio, thickness.value_or(2.f),
+                                                         offset.value_or(5.f), segments.value_or(0));
+                },
+                "add_bottom_progress_ring",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color, const omath::Color& bg,
+                   const float radius, const float ratio, sol::optional<float> thickness, sol::optional<float> offset,
+                   sol::optional<int> segments) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_bottom_progress_ring(color, bg, radius, ratio, thickness.value_or(2.f),
+                                                            offset.value_or(5.f), segments.value_or(0));
+                },
+
+                "add_right_icon",
+                [](omath::hud::EntityOverlay& overlay, const sol::object& texture_id, const float width,
+                   const float height, sol::optional<omath::Color> tint,
+                   sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_right_icon(texture_id_from_lua_object(texture_id), width, height,
+                                                  tint.value_or(opaque_white()), offset.value_or(5.f));
+                },
+                "add_left_icon",
+                [](omath::hud::EntityOverlay& overlay, const sol::object& texture_id, const float width,
+                   const float height, sol::optional<omath::Color> tint,
+                   sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_left_icon(texture_id_from_lua_object(texture_id), width, height,
+                                                 tint.value_or(opaque_white()), offset.value_or(5.f));
+                },
+                "add_top_icon",
+                [](omath::hud::EntityOverlay& overlay, const sol::object& texture_id, const float width,
+                   const float height, sol::optional<omath::Color> tint,
+                   sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_top_icon(texture_id_from_lua_object(texture_id), width, height,
+                                                tint.value_or(opaque_white()), offset.value_or(5.f));
+                },
+                "add_bottom_icon",
+                [](omath::hud::EntityOverlay& overlay, const sol::object& texture_id, const float width,
+                   const float height, sol::optional<omath::Color> tint,
+                   sol::optional<float> offset) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_bottom_icon(texture_id_from_lua_object(texture_id), width, height,
+                                                   tint.value_or(opaque_white()), offset.value_or(5.f));
+                },
+
+                "add_snap_line", &omath::hud::EntityOverlay::add_snap_line, "add_skeleton",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color,
+                   sol::optional<float> thickness) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.add_skeleton(color, thickness.value_or(1.f));
+                },
+                "add_scan_marker",
+                [](omath::hud::EntityOverlay& overlay, const omath::Color& color,
+                   sol::optional<omath::Color> outline, sol::optional<float> outline_thickness)
+                        -> omath::hud::EntityOverlay&
+                {
+                    return overlay.contents(omath::hud::widget::ScanMarker{
+                            color, outline.value_or(transparent_black()), outline_thickness.value_or(1.f)});
+                },
+                "add_aim_dot",
+                [](omath::hud::EntityOverlay& overlay, const omath::Vector2<float>& position,
+                   const omath::Color& color, sol::optional<float> radius) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.contents(omath::hud::widget::AimDot{position, color, radius.value_or(3.f)});
+                },
+                "add_projectile_aim",
+                [](omath::hud::EntityOverlay& overlay, const omath::Vector2<float>& position,
+                   const omath::Color& color, sol::optional<float> size, sol::optional<float> line_size,
+                   sol::optional<omath::hud::widget::ProjectileAim::Figure> figure) -> omath::hud::EntityOverlay&
+                {
+                    return overlay.contents(omath::hud::widget::ProjectileAim{
+                            position, color, size.value_or(3.f), line_size.value_or(1.f),
+                            figure.value_or(omath::hud::widget::ProjectileAim::Figure::SQUARE)});
+                });
+
+        hud_table.new_enum("ProjectileAimFigure", "CIRCLE", omath::hud::widget::ProjectileAim::Figure::CIRCLE,
+                           "SQUARE", omath::hud::widget::ProjectileAim::Figure::SQUARE);
+    }
+} // namespace omath::lua
+#endif

source/lua/lua_mat.cpp

@@ -0,0 +1,156 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <omath/linear_algebra/mat.hpp>
+#include <sol/sol.hpp>
+#include <stdexcept>
+
+namespace
+{
+    template<std::size_t Limit>
+    std::size_t checked_index(const int index)
+    {
+        if (index < 0 || index >= static_cast<int>(Limit))
+            throw std::out_of_range("matrix index is out of range");
+        return static_cast<std::size_t>(index);
+    }
+
+    template<std::size_t Rows, std::size_t Columns, class Type, omath::MatStoreType StoreType>
+    omath::Mat<Rows, Columns, Type, StoreType> mat_from_rows(const sol::table& rows)
+    {
+        omath::Mat<Rows, Columns, Type, StoreType> result;
+
+        for (std::size_t row = 0; row < Rows; ++row)
+        {
+            const auto row_table = rows[row + 1].get<sol::optional<sol::table>>();
+            if (!row_table)
+                throw std::invalid_argument("matrix rows must be tables");
+
+            for (std::size_t column = 0; column < Columns; ++column)
+            {
+                const auto value = (*row_table)[column + 1].get<sol::optional<Type>>();
+                if (!value)
+                    throw std::invalid_argument("matrix row has missing value");
+                result.at(row, column) = *value;
+            }
+        }
+
+        return result;
+    }
+
+    template<std::size_t Rows, std::size_t Columns, class Type, omath::MatStoreType StoreType>
+    sol::table mat_as_table(const omath::Mat<Rows, Columns, Type, StoreType>& mat, sol::this_state state)
+    {
+        sol::state_view lua(state);
+        sol::table rows = lua.create_table();
+
+        for (std::size_t row = 0; row < Rows; ++row)
+        {
+            sol::table row_table = lua.create_table();
+            for (std::size_t column = 0; column < Columns; ++column)
+                row_table[column + 1] = mat.at(row, column);
+            rows[row + 1] = row_table;
+        }
+
+        return rows;
+    }
+
+    template<std::size_t Size, class Type, omath::MatStoreType StoreType, bool RegisterMat4Helpers = false>
+    void register_square_mat(sol::table& omath_table, const char* name)
+    {
+        using MatType = omath::Mat<Size, Size, Type, StoreType>;
+
+        auto type = omath_table.new_usertype<MatType>(
+                name, sol::constructors<MatType()>(),
+
+                "from_rows", &mat_from_rows<Size, Size, Type, StoreType>, "row_count",
+                []()
+                {
+                    return Size;
+                },
+                "columns_count",
+                []()
+                {
+                    return Size;
+                },
+
+                "at",
+                [](const MatType& mat, const int row, const int column)
+                {
+                    return mat.at(checked_index<Size>(row), checked_index<Size>(column));
+                },
+                "set_at",
+                [](MatType& mat, const int row, const int column, const Type value)
+                {
+                    mat.at(checked_index<Size>(row), checked_index<Size>(column)) = value;
+                    return mat;
+                },
+
+                sol::meta_function::multiplication,
+                sol::overload(
+                        [](const MatType& lhs, const MatType& rhs)
+                        {
+                            return lhs * rhs;
+                        },
+                        [](const MatType& mat, const Type scalar)
+                        {
+                            return mat * scalar;
+                        },
+                        [](const Type scalar, const MatType& mat)
+                        {
+                            return mat * scalar;
+                        }),
+                sol::meta_function::division,
+                [](const MatType& mat, const Type scalar)
+                {
+                    return mat / scalar;
+                },
+                sol::meta_function::equal_to, &MatType::operator==, sol::meta_function::to_string, &MatType::to_string,
+
+                "transposed", &MatType::transposed, "determinant", &MatType::determinant, "sum", &MatType::sum, "clear",
+                &MatType::clear, "set", &MatType::set, "inverted",
+                [](const MatType& mat) -> sol::optional<MatType>
+                {
+                    auto result = mat.inverted();
+                    if (!result)
+                        return sol::nullopt;
+                    return *result;
+                },
+                "as_table", &mat_as_table<Size, Size, Type, StoreType>);
+
+        if constexpr (RegisterMat4Helpers)
+        {
+            type["to_screen_mat"] = [](const Type screen_width, const Type screen_height)
+            {
+                return MatType{
+                        {screen_width / Type{2}, Type{0}, Type{0}, Type{0}},
+                        {Type{0}, -screen_height / Type{2}, Type{0}, Type{0}},
+                        {Type{0}, Type{0}, Type{1}, Type{0}},
+                        {screen_width / Type{2}, screen_height / Type{2}, Type{0}, Type{1}},
+                };
+            };
+            type["translation"] = &omath::mat_translation<Type, StoreType>;
+            type["scale"] = &omath::mat_scale<Type, StoreType>;
+            type["look_at_left_handed"] = &omath::mat_look_at_left_handed<Type, StoreType>;
+            type["look_at_right_handed"] = &omath::mat_look_at_right_handed<Type, StoreType>;
+            type["perspective_left_handed_vertical_fov"] =
+                    &omath::mat_perspective_left_handed_vertical_fov<Type, StoreType>;
+            type["perspective_right_handed_vertical_fov"] =
+                    &omath::mat_perspective_right_handed_vertical_fov<Type, StoreType>;
+        }
+    }
+} // namespace
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_matrices(sol::table& omath_table)
+    {
+        register_square_mat<3, float, omath::MatStoreType::ROW_MAJOR>(omath_table, "Mat3");
+        register_square_mat<4, float, omath::MatStoreType::ROW_MAJOR, true>(omath_table, "Mat4");
+        register_square_mat<4, float, omath::MatStoreType::COLUMN_MAJOR, true>(omath_table, "Mat4ColumnMajor");
+        register_square_mat<4, double, omath::MatStoreType::ROW_MAJOR>(omath_table, "Mat4d");
+    }
+} // namespace omath::lua
+#endif

source/lua/lua_quaternion.cpp

@@ -0,0 +1,95 @@
+//
+// Created by orange on 07.03.2026.
+//
+#ifdef OMATH_ENABLE_LUA
+#include "omath/lua/lua.hpp"
+#include <omath/linear_algebra/quaternion.hpp>
+#include <sol/sol.hpp>
+
+namespace omath::lua
+{
+    void LuaInterpreter::register_quaternion(sol::table& omath_table)
+    {
+        using Quatf = omath::Quaternion<float>;
+        using Vec3f = omath::Vector3<float>;
+
+        omath_table.new_usertype<Quatf>(
+                "Quaternion", sol::constructors<Quatf(), Quatf(float, float, float, float)>(),
+
+                "from_axis_angle", &Quatf::from_axis_angle,
+
+                "x",
+                sol::property(
+                        [](const Quatf& q)
+                        {
+                            return q.x;
+                        },
+                        [](Quatf& q, float val)
+                        {
+                            q.x = val;
+                        }),
+                "y",
+                sol::property(
+                        [](const Quatf& q)
+                        {
+                            return q.y;
+                        },
+                        [](Quatf& q, float val)
+                        {
+                            q.y = val;
+                        }),
+                "z",
+                sol::property(
+                        [](const Quatf& q)
+                        {
+                            return q.z;
+                        },
+                        [](Quatf& q, float val)
+                        {
+                            q.z = val;
+                        }),
+                "w",
+                sol::property(
+                        [](const Quatf& q)
+                        {
+                            return q.w;
+                        },
+                        [](Quatf& q, float val)
+                        {
+                            q.w = val;
+                        }),
+
+                sol::meta_function::addition, sol::resolve<Quatf(const Quatf&) const>(&Quatf::operator+),
+                sol::meta_function::multiplication,
+                sol::overload(sol::resolve<Quatf(const Quatf&) const>(&Quatf::operator*),
+                              sol::resolve<Quatf(const float&) const>(&Quatf::operator*),
+                              [](float s, const Quatf& q)
+                              {
+                                  return q * s;
+                              }),
+                sol::meta_function::unary_minus, sol::resolve<Quatf() const>(&Quatf::operator-),
+                sol::meta_function::equal_to, &Quatf::operator==, sol::meta_function::to_string,
+                [](const Quatf& q)
+                {
+                    return std::format("Quaternion({}, {}, {}, {})", q.x, q.y, q.z, q.w);
+                },
+
+                "conjugate", &Quatf::conjugate, "dot", &Quatf::dot, "length", &Quatf::length, "length_sqr",
+                &Quatf::length_sqr, "normalized", &Quatf::normalized, "inverse", &Quatf::inverse, "rotate",
+                sol::resolve<Vec3f(const Vec3f&) const>(&Quatf::rotate), "to_rotation_matrix3",
+                &Quatf::to_rotation_matrix3, "to_rotation_matrix4", &Quatf::to_rotation_matrix4,
+
+                "as_table",
+                [](const Quatf& q, sol::this_state s) -> sol::table
+                {
+                    sol::state_view lua(s);
+                    sol::table t = lua.create_table();
+                    t["x"] = q.x;
+                    t["y"] = q.y;
+                    t["z"] = q.z;
+                    t["w"] = q.w;
+                    return t;
+                });
+    }
+} // namespace omath::lua
+#endif

source/pathfinding/a_star.cpp

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

source/pathfinding/walk_bot.cpp

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

source/projectile_prediction/proj_pred_engine_avx2.cpp

@@ -14,8 +14,8 @@
 namespace omath::projectile_prediction
 {
     std::optional<Vector3<float>>
-    ProjPredEngineAvx2::maybe_calculate_aim_point([[maybe_unused]] const Projectile& projectile,
+    ProjPredEngineAvx2::maybe_calculate_aim_point([[maybe_unused]] const Projectile<float>& projectile,
-                                                  [[maybe_unused]] const Target& target) const
+                                                  [[maybe_unused]] const Target<float>& target) const
     {
 #if defined(OMATH_USE_AVX2) && defined(__i386__) && defined(__x86_64__)
         const float bullet_gravity = m_gravity_constant * projectile.m_gravity_scale;
@@ -124,9 +124,9 @@ namespace omath::projectile_prediction
                 std::format("{} AVX2 feature is not enabled!", std::source_location::current().function_name()));
 #endif
     }
-    std::optional<AimAngles>
+    std::optional<AimAngles<float>>
-    ProjPredEngineAvx2::maybe_calculate_aim_angles([[maybe_unused]] const Projectile& projectile,
+    ProjPredEngineAvx2::maybe_calculate_aim_angles([[maybe_unused]] const Projectile<float>& projectile,
-                                                    [[maybe_unused]] const Target& target) const
+                                                    [[maybe_unused]] const Target<float>& target) const
     {
 #if defined(OMATH_USE_AVX2) && defined(__i386__) && defined(__x86_64__)
         const float bullet_gravity = m_gravity_constant * projectile.m_gravity_scale;
@@ -201,7 +201,7 @@ namespace omath::projectile_prediction
 
                     const Vector3 delta = target_pos - projectile.m_origin;
                     const float yaw = angles::radians_to_degrees(std::atan2(delta.y, delta.x));
-                    return AimAngles{*pitch, yaw};
+                    return AimAngles<float>{*pitch, yaw};
                 }
             }
         }

tests/engines/unit_test_cry_engine.cpp

@@ -29,11 +29,11 @@ TEST(unit_test_cry_engine, look_at_right)
 }
 TEST(unit_test_cry_engine, look_at_up)
 {
-    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_right);
+    const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_up);
 
     // ReSharper disable once CppTooWideScopeInitStatement
     const auto dir_vector = cry_engine::forward_vector(angles);
-    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), cry_engine::k_abs_right.as_array()))
+    for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), cry_engine::k_abs_up.as_array()))
         EXPECT_NEAR(result, etalon, 0.0001f);
 }
 

tests/engines/unit_test_frostbite_engine.cpp

@@ -453,3 +453,184 @@ TEST(unit_test_frostbite_engine, ViewAnglesAsVector3NormalizedYaw)
 
     EXPECT_NEAR(vec.y, -90.f, 0.01f);
 }
+
+// ---------------------------------------------------------------------------
+// extract_projection_params
+// ---------------------------------------------------------------------------
+
+// Tolerance: tan/atan round-trip in single precision introduces ~1e-5 rad
+// error, which is ~5.7e-4 degrees.
+static constexpr float k_fov_tolerance_deg  = 0.001f;
+static constexpr float k_aspect_tolerance   = 1e-5f;
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_BasicRoundTrip)
+{
+    // Build a matrix with known inputs and verify both outputs are recovered.
+    constexpr float fov_deg    = 60.f;
+    constexpr float aspect     = 16.f / 9.f;
+    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
+        fov_deg, aspect, 0.1f, 1000.f, omath::NDCDepthRange::ZERO_TO_ONE);
+
+    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
+
+    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
+    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_NegOneToOneDepthRange)
+{
+    // The FOV/aspect encoding in rows 0 and 1 is identical for both NDC
+    // depth ranges, so extraction must work the same way.
+    constexpr float fov_deg = 75.f;
+    constexpr float aspect  = 4.f / 3.f;
+    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
+        fov_deg, aspect, 0.1f, 500.f, omath::NDCDepthRange::NEGATIVE_ONE_TO_ONE);
+
+    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
+
+    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
+    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_Fov45)
+{
+    constexpr float fov_deg = 45.f;
+    constexpr float aspect  = 16.f / 9.f;
+    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
+        fov_deg, aspect, 0.01f, 1000.f);
+
+    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
+
+    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
+    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_Fov90)
+{
+    constexpr float fov_deg = 90.f;
+    constexpr float aspect  = 16.f / 9.f;
+    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
+        fov_deg, aspect, 0.01f, 1000.f);
+
+    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
+
+    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
+    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_Fov120)
+{
+    constexpr float fov_deg = 120.f;
+    constexpr float aspect  = 16.f / 9.f;
+    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
+        fov_deg, aspect, 0.01f, 1000.f);
+
+    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
+
+    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
+    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_AspectRatio_4by3)
+{
+    constexpr float fov_deg = 60.f;
+    constexpr float aspect  = 4.f / 3.f;
+    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
+        fov_deg, aspect, 0.1f, 500.f);
+
+    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
+
+    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
+    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_AspectRatio_Ultrawide)
+{
+    constexpr float fov_deg = 90.f;
+    constexpr float aspect  = 21.f / 9.f;
+    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
+        fov_deg, aspect, 0.1f, 500.f);
+
+    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
+
+    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
+    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_AspectRatio_Square)
+{
+    constexpr float fov_deg = 90.f;
+    constexpr float aspect  = 1.f;
+    const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
+        fov_deg, aspect, 0.1f, 500.f);
+
+    const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
+
+    EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
+    EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_FovAndAspectAreIndependent)
+{
+    // Changing only FOV must not affect recovered aspect ratio, and vice versa.
+    constexpr float aspect = 16.f / 9.f;
+
+    for (const float fov_deg : {45.f, 60.f, 90.f, 110.f})
+    {
+        const auto mat = omath::frostbite_engine::calc_perspective_projection_matrix(
+            fov_deg, aspect, 0.1f, 1000.f);
+        const auto [fov, ar] = omath::frostbite_engine::Camera::extract_projection_params(mat);
+
+        EXPECT_NEAR(fov.as_degrees(), fov_deg, k_fov_tolerance_deg);
+        EXPECT_NEAR(ar, aspect, k_aspect_tolerance);
+    }
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_ViaCamera_RoundTrip)
+{
+    // End-to-end: construct a Camera, retrieve its projection matrix, then
+    // recover the FOV and aspect ratio and compare against the original inputs.
+    constexpr auto fov_in  = omath::projection::FieldOfView::from_degrees(90.f);
+    constexpr float aspect = 1920.f / 1080.f;
+
+    const auto cam = omath::frostbite_engine::Camera(
+        {0.f, 0.f, 0.f}, {}, {1920.f, 1080.f}, fov_in, 0.01f, 1000.f);
+
+    const auto [fov_out, ar_out] =
+        omath::frostbite_engine::Camera::extract_projection_params(cam.get_projection_matrix());
+
+    EXPECT_NEAR(fov_out.as_degrees(), fov_in.as_degrees(), k_fov_tolerance_deg);
+    EXPECT_NEAR(ar_out, aspect, k_aspect_tolerance);
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_ViaCamera_AfterFovChange)
+{
+    // Verify that the extracted FOV tracks the camera's FOV after set_field_of_view().
+    auto cam = omath::frostbite_engine::Camera(
+        {0.f, 0.f, 0.f}, {}, {1920.f, 1080.f},
+        omath::projection::FieldOfView::from_degrees(60.f), 0.01f, 1000.f);
+
+    cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(110.f));
+
+    const auto [fov, ar] =
+        omath::frostbite_engine::Camera::extract_projection_params(cam.get_projection_matrix());
+
+    EXPECT_NEAR(fov.as_degrees(), 110.f, k_fov_tolerance_deg);
+    EXPECT_NEAR(ar, 1920.f / 1080.f, k_aspect_tolerance);
+}
+
+TEST(unit_test_frostbite_engine, ExtractProjectionParams_ViaCamera_AfterViewportChange)
+{
+    // Verify that the extracted aspect ratio tracks the viewport after set_view_port().
+    auto cam = omath::frostbite_engine::Camera(
+        {0.f, 0.f, 0.f}, {}, {1920.f, 1080.f},
+        omath::projection::FieldOfView::from_degrees(90.f), 0.01f, 1000.f);
+
+    cam.set_view_port({1280.f, 720.f});
+
+    const auto [fov, ar] =
+        omath::frostbite_engine::Camera::extract_projection_params(cam.get_projection_matrix());
+
+    EXPECT_NEAR(fov.as_degrees(), 90.f, k_fov_tolerance_deg);
+    EXPECT_NEAR(ar, 1280.f / 720.f, k_aspect_tolerance);
+}

tests/engines/unit_test_traits_engines.cpp

@@ -44,46 +44,46 @@ static void expect_matrix_near(const MatT& a, const MatT& b, float eps = 1e-5f)
 #include <omath/engines/cry_engine/traits/pred_engine_trait.hpp>
 
 // Helper: verify that zero offset matches default-initialized offset behavior
-template<typename Trait>
+template<typename Trait, typename AT = float>
-static void verify_launch_offset_at_time_zero(const Vector3<float>& origin, const Vector3<float>& offset)
+static void verify_launch_offset_at_time_zero(const Vector3<AT>& origin, const Vector3<AT>& offset)
 {
-    projectile_prediction::Projectile p;
+    projectile_prediction::Projectile<AT> p;
     p.m_origin = origin;
     p.m_launch_offset = offset;
-    p.m_launch_speed = 100.f;
+    p.m_launch_speed = static_cast<AT>(100);
-    p.m_gravity_scale = 1.f;
+    p.m_gravity_scale = static_cast<AT>(1);
 
-    const auto pos = Trait::predict_projectile_position(p, 0.f, 0.f, 0.f, 9.81f);
+    const auto pos = Trait::predict_projectile_position(p, AT{0}, AT{0}, AT{0}, static_cast<AT>(9.81));
     const auto expected = origin + offset;
-    EXPECT_NEAR(pos.x, expected.x, 1e-4f);
+    EXPECT_NEAR(static_cast<double>(pos.x), static_cast<double>(expected.x), 1e-4);
-    EXPECT_NEAR(pos.y, expected.y, 1e-4f);
+    EXPECT_NEAR(static_cast<double>(pos.y), static_cast<double>(expected.y), 1e-4);
-    EXPECT_NEAR(pos.z, expected.z, 1e-4f);
+    EXPECT_NEAR(static_cast<double>(pos.z), static_cast<double>(expected.z), 1e-4);
 }
 
-template<typename Trait>
+template<typename Trait, typename AT = float>
 static void verify_zero_offset_matches_default()
 {
-    projectile_prediction::Projectile p;
+    projectile_prediction::Projectile<AT> p;
-    p.m_origin = {10.f, 20.f, 30.f};
+    p.m_origin = {static_cast<AT>(10), static_cast<AT>(20), static_cast<AT>(30)};
-    p.m_launch_offset = {0.f, 0.f, 0.f};
+    p.m_launch_offset = {};
-    p.m_launch_speed = 50.f;
+    p.m_launch_speed = static_cast<AT>(50);
-    p.m_gravity_scale = 1.f;
+    p.m_gravity_scale = static_cast<AT>(1);
 
-    projectile_prediction::Projectile p2;
+    projectile_prediction::Projectile<AT> p2;
-    p2.m_origin = {10.f, 20.f, 30.f};
+    p2.m_origin = {static_cast<AT>(10), static_cast<AT>(20), static_cast<AT>(30)};
-    p2.m_launch_speed = 50.f;
+    p2.m_launch_speed = static_cast<AT>(50);
-    p2.m_gravity_scale = 1.f;
+    p2.m_gravity_scale = static_cast<AT>(1);
 
-    const auto pos1 = Trait::predict_projectile_position(p, 15.f, 30.f, 1.f, 9.81f);
+    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 pos2 = Trait::predict_projectile_position(p2, 15.f, 30.f, 1.f, 9.81f);
+    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 float tol = 1e-6f;
+    constexpr double tol = 1e-6;
 #else
-    constexpr float tol = 1e-4f;
+    constexpr double tol = 1e-4;
 #endif
-    EXPECT_NEAR(pos1.x, pos2.x, tol);
+    EXPECT_NEAR(static_cast<double>(pos1.x), static_cast<double>(pos2.x), tol);
-    EXPECT_NEAR(pos1.y, pos2.y, tol);
+    EXPECT_NEAR(static_cast<double>(pos1.y), static_cast<double>(pos2.y), tol);
-    EXPECT_NEAR(pos1.z, pos2.z, tol);
+    EXPECT_NEAR(static_cast<double>(pos1.z), static_cast<double>(pos2.z), tol);
 }
 
 TEST(LaunchOffsetTests, Source_OffsetAtTimeZero)
@@ -128,11 +128,11 @@ TEST(LaunchOffsetTests, Unity_ZeroOffsetMatchesDefault)
 }
 TEST(LaunchOffsetTests, Unreal_OffsetAtTimeZero)
 {
-    verify_launch_offset_at_time_zero<unreal_engine::PredEngineTrait>({0, 0, 0}, {5, 3, -2});
+    verify_launch_offset_at_time_zero<unreal_engine::PredEngineTrait, double>({0, 0, 0}, {5, 3, -2});
 }
 TEST(LaunchOffsetTests, Unreal_ZeroOffsetMatchesDefault)
 {
-    verify_zero_offset_matches_default<unreal_engine::PredEngineTrait>();
+    verify_zero_offset_matches_default<unreal_engine::PredEngineTrait, double>();
 }
 TEST(LaunchOffsetTests, CryEngine_OffsetAtTimeZero)
 {
@@ -401,38 +401,38 @@ TEST(TraitTests, Unreal_Pred_And_Mesh_And_Camera)
 {
     namespace e = omath::unreal_engine;
 
-    projectile_prediction::Projectile p;
+    projectile_prediction::Projectile<double> p;
-    p.m_origin = {0.f, 0.f, 0.f};
+    p.m_origin = {0.0, 0.0, 0.0};
-    p.m_launch_speed = 10.f;
+    p.m_launch_speed = 10.0;
-    p.m_gravity_scale = 1.f;
+    p.m_gravity_scale = 1.0;
 
-    const auto pos = e::PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
+    const auto pos = e::PredEngineTrait::predict_projectile_position(p, 0.0, 0.0, 1.0, 9.81);
-    EXPECT_NEAR(pos.x, 10.f, 1e-4f);
+    EXPECT_NEAR(pos.x, 10.0, 1e-4);
-    EXPECT_NEAR(pos.y, -9.81f * 0.5f, 1e-4f);
+    EXPECT_NEAR(pos.y, -9.81 * 0.5, 1e-4);
 
-    projectile_prediction::Target t;
+    projectile_prediction::Target<double> t;
-    t.m_origin = {0.f, 5.f, 0.f};
+    t.m_origin = {0.0, 5.0, 0.0};
-    t.m_velocity = {2.f, 0.f, 0.f};
+    t.m_velocity = {2.0, 0.0, 0.0};
     t.m_is_airborne = true;
-    const auto pred = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred = e::PredEngineTrait::predict_target_position(t, 2.0, 9.81);
-    EXPECT_NEAR(pred.x, 4.f, 1e-6f);
+    EXPECT_NEAR(pred.x, 4.0, 1e-6);
-    EXPECT_NEAR(pred.y, 5.f - 9.81f * (2.f * 2.f) * 0.5f, 1e-6f);
+    EXPECT_NEAR(pred.y, 5.0 - 9.81 * (2.0 * 2.0) * 0.5, 1e-6);
 
-    EXPECT_NEAR(e::PredEngineTrait::calc_vector_2d_distance({3.f, 0.f, 4.f}), 5.f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::calc_vector_2d_distance({3.0, 0.0, 4.0}), 5.0, 1e-6);
-    EXPECT_NEAR(e::PredEngineTrait::get_vector_height_coordinate({1.f, 2.5f, 3.f}), 2.5f, 1e-6f);
+    EXPECT_NEAR(e::PredEngineTrait::get_vector_height_coordinate({1.0, 2.5, 3.0}), 2.5, 1e-6);
 
-    std::optional<float> pitch = 45.f;
+    std::optional<double> pitch = 45.0;
-    auto vp = e::PredEngineTrait::calc_viewpoint_from_angles(p, {10.f, 0.f, 0.f}, pitch);
+    auto vp = e::PredEngineTrait::calc_viewpoint_from_angles(p, Vector3<double>{10.0, 0.0, 0.0}, pitch);
-    EXPECT_NEAR(vp.z, 0.f + 10.f * std::tan(angles::degrees_to_radians(45.f)), 1e-6f);
+    EXPECT_NEAR(vp.z, 0.0 + 10.0 * std::tan(angles::degrees_to_radians(45.0)), 1e-6);
 
-    Vector3<float> origin{0.f, 0.f, 0.f};
+    Vector3<double> origin{0.0, 0.0, 0.0};
-    Vector3<float> view_to{1.f, 1.f, 1.f};
+    Vector3<double> view_to{1.0, 1.0, 1.0};
     const auto pitch_calc = e::PredEngineTrait::calc_direct_pitch_angle(origin, view_to);
     const auto dir = (view_to - origin).normalized();
-    EXPECT_NEAR(pitch_calc, angles::radians_to_degrees(std::asin(dir.z)), 1e-3f);
+    EXPECT_NEAR(pitch_calc, angles::radians_to_degrees(std::asin(dir.z)), 1e-3);
 
     const auto yaw_calc = e::PredEngineTrait::calc_direct_yaw_angle(origin, view_to);
-    EXPECT_NEAR(yaw_calc, angles::radians_to_degrees(std::atan2(dir.y, dir.x)), 1e-3f);
+    EXPECT_NEAR(yaw_calc, angles::radians_to_degrees(std::atan2(dir.y, dir.x)), 1e-3);
 
     e::ViewAngles va;
     expect_matrix_near(e::MeshTrait::rotation_matrix(va), e::rotation_matrix(va));
@@ -448,8 +448,8 @@ TEST(TraitTests, Unreal_Pred_And_Mesh_And_Camera)
 
     // non-airborne
     t.m_is_airborne = false;
-    const auto pred_ground_unreal = e::PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+    const auto pred_ground_unreal = e::PredEngineTrait::predict_target_position(t, 2.0, 9.81);
-    EXPECT_NEAR(pred_ground_unreal.x, 4.f, 1e-6f);
+    EXPECT_NEAR(pred_ground_unreal.x, 4.0, 1e-6);
 }
 
 // ── NDC Depth Range tests for Source and CryEngine camera traits ────────────
@@ -499,10 +499,11 @@ TEST(NDCDepthRangeTests, CryEngine_BothDepthRanges)
 // ── Verify Z mapping for ZERO_TO_ONE across all engines ─────────────────────
 
 // Helper: projects a point at given z through a left-handed projection matrix and returns NDC z
-static float project_z_lh(const Mat<4, 4>& proj, float z)
+template<class Type = float, MatStoreType Store = MatStoreType::ROW_MAJOR>
+static float project_z_lh(const Mat<4, 4, Type, Store>& proj, float z)
 {
-    auto clip = proj * mat_column_from_vector<float>({0, 0, z});
+    auto clip = proj * mat_column_from_vector<Type, Store>({0, 0, static_cast<Type>(z)});
-    return clip.at(2, 0) / clip.at(3, 0);
+    return static_cast<float>(clip.at(2, 0) / clip.at(3, 0));
 }
 
 TEST(NDCDepthRangeTests, Source_ZeroToOne_ZRange)

tests/engines/unit_test_transform_extraction.cpp

@@ -0,0 +1,126 @@
+#include <gtest/gtest.h>
+#include <omath/engines/cry_engine/formulas.hpp>
+#include <omath/engines/frostbite_engine/formulas.hpp>
+#include <omath/engines/iw_engine/formulas.hpp>
+#include <omath/engines/opengl_engine/formulas.hpp>
+#include <omath/engines/source_engine/formulas.hpp>
+#include <omath/engines/unity_engine/formulas.hpp>
+#include <omath/engines/unreal_engine/formulas.hpp>
+
+template<class Type>
+static void expect_vector_near(const omath::Vector3<Type>& actual, const omath::Vector3<Type>& expected,
+                               const double epsilon)
+{
+    EXPECT_NEAR(static_cast<double>(actual.x), static_cast<double>(expected.x), epsilon);
+    EXPECT_NEAR(static_cast<double>(actual.y), static_cast<double>(expected.y), epsilon);
+    EXPECT_NEAR(static_cast<double>(actual.z), static_cast<double>(expected.z), epsilon);
+}
+
+template<class Mat4X4, class ViewAnglesType, class RotationMatrixFn, class ExtractOriginFn, class ExtractScaleFn,
+         class ExtractRotationAnglesFn>
+static void verify_transform_extractors(const omath::Vector3<typename Mat4X4::ContainedType>& origin,
+                                        const omath::Vector3<typename Mat4X4::ContainedType>& scale,
+                                        const ViewAnglesType& angles, RotationMatrixFn rotation_matrix,
+                                        ExtractOriginFn extract_origin, ExtractScaleFn extract_scale,
+                                        ExtractRotationAnglesFn extract_rotation_angles)
+{
+    using Type = typename Mat4X4::ContainedType;
+    constexpr auto store_ordering = Mat4X4::get_store_ordering();
+    const auto transform = omath::mat_translation<Type, store_ordering>(origin) * rotation_matrix(angles)
+                           * omath::mat_scale<Type, store_ordering>(scale);
+
+    expect_vector_near(extract_origin(transform), origin, 1e-4);
+    expect_vector_near(extract_scale(transform), scale, 1e-4);
+    expect_vector_near(extract_rotation_angles(transform).as_vector3(), angles.as_vector3(), 1e-3);
+}
+
+TEST(TransformExtraction, SourceEngine)
+{
+    namespace e = omath::source_engine;
+    const e::ViewAngles angles{
+            e::PitchAngle::from_degrees(20.f),
+            e::YawAngle::from_degrees(-35.f),
+            e::RollAngle::from_degrees(15.f),
+    };
+
+    verify_transform_extractors<e::Mat4X4>({12.f, -3.f, 8.f}, {2.f, 3.f, 4.f}, angles, e::rotation_matrix,
+                                          e::extract_origin, e::extract_scale, e::extract_rotation_angles);
+}
+
+TEST(TransformExtraction, IwEngine)
+{
+    namespace e = omath::iw_engine;
+    const e::ViewAngles angles{
+            e::PitchAngle::from_degrees(-18.f),
+            e::YawAngle::from_degrees(42.f),
+            e::RollAngle::from_degrees(-11.f),
+    };
+
+    verify_transform_extractors<e::Mat4X4>({-7.f, 5.f, 13.f}, {1.5f, 2.5f, 3.5f}, angles, e::rotation_matrix,
+                                          e::extract_origin, e::extract_scale, e::extract_rotation_angles);
+}
+
+TEST(TransformExtraction, UnrealEngine)
+{
+    namespace e = omath::unreal_engine;
+    const e::ViewAngles angles{
+            e::PitchAngle::from_degrees(30.0),
+            e::YawAngle::from_degrees(45.0),
+            e::RollAngle::from_degrees(-20.0),
+    };
+
+    verify_transform_extractors<e::Mat4X4>({100.0, -50.0, 25.0}, {2.0, 4.0, 6.0}, angles, e::rotation_matrix,
+                                          e::extract_origin, e::extract_scale, e::extract_rotation_angles);
+}
+
+TEST(TransformExtraction, UnityEngine)
+{
+    namespace e = omath::unity_engine;
+    const e::ViewAngles angles{
+            e::PitchAngle::from_degrees(15.f),
+            e::YawAngle::from_degrees(-25.f),
+            e::RollAngle::from_degrees(35.f),
+    };
+
+    verify_transform_extractors<e::Mat4X4>({4.f, 9.f, -2.f}, {0.5f, 3.f, 7.f}, angles, e::rotation_matrix,
+                                          e::extract_origin, e::extract_scale, e::extract_rotation_angles);
+}
+
+TEST(TransformExtraction, FrostbiteEngine)
+{
+    namespace e = omath::frostbite_engine;
+    const e::ViewAngles angles{
+            e::PitchAngle::from_degrees(-12.f),
+            e::YawAngle::from_degrees(33.f),
+            e::RollAngle::from_degrees(-27.f),
+    };
+
+    verify_transform_extractors<e::Mat4X4>({6.f, -8.f, 10.f}, {1.25f, 2.75f, 4.25f}, angles, e::rotation_matrix,
+                                          e::extract_origin, e::extract_scale, e::extract_rotation_angles);
+}
+
+TEST(TransformExtraction, CryEngine)
+{
+    namespace e = omath::cry_engine;
+    const e::ViewAngles angles{
+            e::PitchAngle::from_degrees(-18.f),
+            e::YawAngle::from_degrees(40.f),
+            e::RollAngle::from_degrees(22.f),
+    };
+
+    verify_transform_extractors<e::Mat4X4>({3.f, 14.f, -6.f}, {2.f, 5.f, 8.f}, angles, e::rotation_matrix,
+                                          e::extract_origin, e::extract_scale, e::extract_rotation_angles);
+}
+
+TEST(TransformExtraction, OpenGlEngine)
+{
+    namespace e = omath::opengl_engine;
+    const e::ViewAngles angles{
+            e::PitchAngle::from_degrees(24.f),
+            e::YawAngle::from_degrees(-31.f),
+            e::RollAngle::from_degrees(17.f),
+    };
+
+    verify_transform_extractors<e::Mat4X4>({-9.f, 2.f, 11.f}, {3.f, 6.f, 9.f}, angles, e::rotation_matrix,
+                                          e::extract_origin, e::extract_scale, e::extract_rotation_angles);
+}

tests/engines/unit_test_unreal_engine.cpp

@@ -32,7 +32,7 @@ TEST(unit_test_unreal_engine, ForwardVectorRotationPitch)
 {
     omath::unreal_engine::ViewAngles angles;
 
-    angles.pitch = omath::unreal_engine::PitchAngle::from_degrees(-90.f);
+    angles.pitch = omath::unreal_engine::PitchAngle::from_degrees(90.f);
 
     const auto forward = omath::unreal_engine::forward_vector(angles);
     EXPECT_NEAR(forward.x, omath::unreal_engine::k_abs_up.x, 0.00001f);
@@ -44,7 +44,7 @@ TEST(unit_test_unreal_engine, ForwardVectorRotationRoll)
 {
     omath::unreal_engine::ViewAngles angles;
 
-    angles.roll = omath::unreal_engine::RollAngle::from_degrees(-90.f);
+    angles.roll = omath::unreal_engine::RollAngle::from_degrees(90.f);
 
     const auto forward = omath::unreal_engine::up_vector(angles);
     EXPECT_NEAR(forward.x, omath::unreal_engine::k_abs_right.x, 0.00001f);
@@ -111,7 +111,7 @@ TEST(unit_test_unreal_engine, CameraSetAndGetOrigin)
 {
     auto cam = omath::unreal_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, {}, 0.01f, 1000.f);
 
-    EXPECT_EQ(cam.get_origin(), omath::Vector3<float>{});
+    EXPECT_EQ(cam.get_origin(), omath::Vector3<double>{});
     cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
 
     EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
@@ -129,7 +129,7 @@ TEST(unit_test_unreal_engine, loook_at_random_all_axis)
     std::size_t failed_points = 0;
     for (int i = 0; i < 100; i++)
     {
-        const auto position_to_look = omath::Vector3<float>{dist(gen), dist(gen), dist(gen)};
+        const auto position_to_look = omath::Vector3<double>{dist(gen), dist(gen), dist(gen)};
 
         if (cam.get_origin().distance_to(position_to_look) < 10)
             continue;
@@ -151,7 +151,7 @@ TEST(unit_test_unreal_engine, loook_at_random_all_axis)
 TEST(unit_test_unreal_engine, loook_at_random_x_axis)
 {
     std::mt19937 gen(std::random_device{}()); // Seed with a non-deterministic source
-    std::uniform_real_distribution<float> dist(-1000.f, 1000.f);
+    std::uniform_real_distribution<double> dist(-1000.f, 1000.f);
 
     constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
     auto cam = omath::unreal_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.001f, 10000.f);
@@ -159,7 +159,7 @@ TEST(unit_test_unreal_engine, loook_at_random_x_axis)
     std::size_t failed_points = 0;
     for (int i = 0; i < 1000; i++)
     {
-        const auto position_to_look = omath::Vector3<float>{dist(gen), dist(gen), dist(gen)};
+        const auto position_to_look = omath::Vector3<double>{dist(gen), dist(gen), dist(gen)};
 
         if (cam.get_origin().distance_to(position_to_look) < 10)
             continue;
@@ -190,7 +190,7 @@ TEST(unit_test_unreal_engine, loook_at_random_y_axis)
     std::size_t failed_points = 0;
     for (int i = 0; i < 1000; i++)
     {
-        const auto position_to_look = omath::Vector3<float>{0.f, dist(gen), 0.f};
+        const auto position_to_look = omath::Vector3<double>{0.f, dist(gen), 0.f};
 
         if (cam.get_origin().distance_to(position_to_look) < 10)
             continue;
@@ -221,7 +221,7 @@ TEST(unit_test_unreal_engine, loook_at_random_z_axis)
     std::size_t failed_points = 0;
     for (int i = 0; i < 1000; i++)
     {
-        const auto position_to_look = omath::Vector3<float>{0.f, 0.f, dist(gen)};
+        const auto position_to_look = omath::Vector3<double>{0.f, 0.f, dist(gen)};
 
         if (cam.get_origin().distance_to(position_to_look) < 10)
             continue;

tests/general/mem_fd_helper.hpp

@@ -20,8 +20,8 @@
 #include <vector>
 
 #if defined(__linux__)
-#  include <unistd.h>
 #include <fcntl.h>
+#include <unistd.h>
 #if defined(__ANDROID__)
 #if __ANDROID_API__ >= 30
 #include <sys/mman.h>
@@ -57,9 +57,11 @@ public:
     MemFdFile(MemFdFile&& o) noexcept
         : m_path(std::move(o.m_path))
 #if defined(OMATH_TEST_USE_MEMFD)
-        , m_fd(o.m_fd)
+          ,
+          m_fd(o.m_fd)
 #else
-        , m_temp_path(std::move(o.m_temp_path))
+          ,
+          m_temp_path(std::move(o.m_temp_path))
 #endif
     {
 #if defined(OMATH_TEST_USE_MEMFD)
@@ -69,9 +71,15 @@ public:
 #endif
     }
 
-    [[nodiscard]] bool valid() const { return !m_path.empty(); }
+    [[nodiscard]] bool valid() const
+    {
+        return !m_path.empty();
+    }
 
-    [[nodiscard]] const std::filesystem::path& path() const { return m_path; }
+    [[nodiscard]] const std::filesystem::path& path() const
+    {
+        return m_path;
+    }
 
     static MemFdFile create(const std::vector<std::uint8_t>& data)
     {
@@ -163,25 +171,27 @@ inline std::vector<std::uint8_t> build_minimal_pe(const std::vector<std::uint8_t
 
     std::vector<std::uint8_t> buf(data_off + section_bytes.size(), 0u);
 
-    buf[0] = 'M'; buf[1] = 'Z';
+    buf[0] = 'M';
+    buf[1] = 'Z';
     std::memcpy(buf.data() + 0x3Cu, &e_lfanew, 4);
 
-    buf[nt_off] = 'P'; buf[nt_off + 1] = 'E';
+    buf[nt_off] = 'P';
+    buf[nt_off + 1] = 'E';
 
-    const std::uint16_t machine = 0x8664u, num_sections = 1u;
+    constexpr std::uint16_t machine = 0x8664u, num_sections = 1u;
     std::memcpy(buf.data() + fh_off, &machine, 2);
     std::memcpy(buf.data() + fh_off + 2, &num_sections, 2);
     std::memcpy(buf.data() + fh_off + 16, &size_opt, 2);
 
-    const std::uint16_t magic = 0x20Bu;
+    constexpr std::uint16_t magic = 0x20Bu;
     std::memcpy(buf.data() + oh_off, &magic, 2);
 
-    const char name[8] = {'.','t','e','x','t',0,0,0};
+    constexpr char name[8] = {'.', 't', 'e', 'x', 't', 0, 0, 0};
     std::memcpy(buf.data() + sh_off, name, 8);
 
     const auto vsize = static_cast<std::uint32_t>(section_bytes.size());
-    const std::uint32_t vaddr   = 0x1000u;
+    constexpr std::uint32_t vaddr = 0x1000u;
-    const auto ptr_raw = static_cast<std::uint32_t>(data_off);
+    constexpr auto ptr_raw = static_cast<std::uint32_t>(data_off);
     std::memcpy(buf.data() + sh_off + 8, &vsize, 4);
     std::memcpy(buf.data() + sh_off + 12, &vaddr, 4);
     std::memcpy(buf.data() + sh_off + 16, &vsize, 4);

tests/general/unit_test_a_star.cpp

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

tests/general/unit_test_aabb.cpp

@@ -0,0 +1,240 @@
+//
+// Created by Vladislav on 19.04.2026.
+//
+#include <gtest/gtest.h>
+#include "omath/3d_primitives/aabb.hpp"
+
+using AABB = omath::primitives::Aabb<float>;
+using Vec3 = omath::Vector3<float>;
+
+// --- center() ---
+
+TEST(AabbTests, CenterOfSymmetricBox)
+{
+    constexpr AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    constexpr auto c = box.center();
+    EXPECT_FLOAT_EQ(c.x, 0.f);
+    EXPECT_FLOAT_EQ(c.y, 0.f);
+    EXPECT_FLOAT_EQ(c.z, 0.f);
+}
+
+TEST(AabbTests, CenterOfOffsetBox)
+{
+    constexpr AABB box{{1.f, 2.f, 3.f}, {3.f, 6.f, 7.f}};
+    constexpr auto c = box.center();
+    EXPECT_FLOAT_EQ(c.x, 2.f);
+    EXPECT_FLOAT_EQ(c.y, 4.f);
+    EXPECT_FLOAT_EQ(c.z, 5.f);
+}
+
+TEST(AabbTests, CenterOfDegenerateBox)
+{
+    constexpr AABB box{{5.f, 5.f, 5.f}, {5.f, 5.f, 5.f}};
+    constexpr auto c = box.center();
+    EXPECT_FLOAT_EQ(c.x, 5.f);
+    EXPECT_FLOAT_EQ(c.y, 5.f);
+    EXPECT_FLOAT_EQ(c.z, 5.f);
+}
+
+// --- extents() ---
+
+TEST(AabbTests, ExtentsOfSymmetricBox)
+{
+    constexpr AABB box{{-2.f, -3.f, -4.f}, {2.f, 3.f, 4.f}};
+    constexpr auto e = box.extents();
+    EXPECT_FLOAT_EQ(e.x, 2.f);
+    EXPECT_FLOAT_EQ(e.y, 3.f);
+    EXPECT_FLOAT_EQ(e.z, 4.f);
+}
+
+TEST(AabbTests, ExtentsOfUnitBox)
+{
+    constexpr AABB box{{0.f, 0.f, 0.f}, {2.f, 2.f, 2.f}};
+    constexpr auto e = box.extents();
+    EXPECT_FLOAT_EQ(e.x, 1.f);
+    EXPECT_FLOAT_EQ(e.y, 1.f);
+    EXPECT_FLOAT_EQ(e.z, 1.f);
+}
+
+TEST(AabbTests, ExtentsOfDegenerateBox)
+{
+    constexpr AABB box{{3.f, 3.f, 3.f}, {3.f, 3.f, 3.f}};
+    constexpr auto e = box.extents();
+    EXPECT_FLOAT_EQ(e.x, 0.f);
+    EXPECT_FLOAT_EQ(e.y, 0.f);
+    EXPECT_FLOAT_EQ(e.z, 0.f);
+}
+
+using UpAxis = omath::primitives::UpAxis;
+
+// --- top() ---
+
+TEST(AabbTests, TopYUpSymmetricBox)
+{
+    constexpr AABB box{{-1.f, -2.f, -3.f}, {1.f, 2.f, 3.f}};
+    constexpr auto t = box.top<UpAxis::Y>();
+    EXPECT_FLOAT_EQ(t.x, 0.f);
+    EXPECT_FLOAT_EQ(t.y, 2.f);
+    EXPECT_FLOAT_EQ(t.z, 0.f);
+}
+
+TEST(AabbTests, TopYUpOffsetBox)
+{
+    constexpr AABB box{{1.f, 4.f, 2.f}, {3.f, 10.f, 6.f}};
+    constexpr auto t = box.top<UpAxis::Y>();
+    EXPECT_FLOAT_EQ(t.x, 2.f);
+    EXPECT_FLOAT_EQ(t.y, 10.f);
+    EXPECT_FLOAT_EQ(t.z, 4.f);
+}
+
+TEST(AabbTests, TopZUpSymmetricBox)
+{
+    constexpr AABB box{{-1.f, -2.f, -3.f}, {1.f, 2.f, 3.f}};
+    constexpr auto t = box.top<UpAxis::Z>();
+    EXPECT_FLOAT_EQ(t.x, 0.f);
+    EXPECT_FLOAT_EQ(t.y, 0.f);
+    EXPECT_FLOAT_EQ(t.z, 3.f);
+}
+
+TEST(AabbTests, TopZUpOffsetBox)
+{
+    constexpr AABB box{{1.f, 4.f, 2.f}, {3.f, 10.f, 6.f}};
+    constexpr auto t = box.top<UpAxis::Z>();
+    EXPECT_FLOAT_EQ(t.x, 2.f);
+    EXPECT_FLOAT_EQ(t.y, 7.f);
+    EXPECT_FLOAT_EQ(t.z, 6.f);
+}
+
+TEST(AabbTests, TopDefaultIsYUp)
+{
+    constexpr AABB box{{0.f, 0.f, 0.f}, {2.f, 4.f, 6.f}};
+    EXPECT_EQ(box.top(), box.top<UpAxis::Y>());
+}
+
+// --- bottom() ---
+
+TEST(AabbTests, BottomYUpSymmetricBox)
+{
+    constexpr AABB box{{-1.f, -2.f, -3.f}, {1.f, 2.f, 3.f}};
+    constexpr auto b = box.bottom<UpAxis::Y>();
+    EXPECT_FLOAT_EQ(b.x, 0.f);
+    EXPECT_FLOAT_EQ(b.y, -2.f);
+    EXPECT_FLOAT_EQ(b.z, 0.f);
+}
+
+TEST(AabbTests, BottomYUpOffsetBox)
+{
+    constexpr AABB box{{1.f, 4.f, 2.f}, {3.f, 10.f, 6.f}};
+    constexpr auto b = box.bottom<UpAxis::Y>();
+    EXPECT_FLOAT_EQ(b.x, 2.f);
+    EXPECT_FLOAT_EQ(b.y, 4.f);
+    EXPECT_FLOAT_EQ(b.z, 4.f);
+}
+
+TEST(AabbTests, BottomZUpSymmetricBox)
+{
+    constexpr AABB box{{-1.f, -2.f, -3.f}, {1.f, 2.f, 3.f}};
+    constexpr auto b = box.bottom<UpAxis::Z>();
+    EXPECT_FLOAT_EQ(b.x, 0.f);
+    EXPECT_FLOAT_EQ(b.y, 0.f);
+    EXPECT_FLOAT_EQ(b.z, -3.f);
+}
+
+TEST(AabbTests, BottomZUpOffsetBox)
+{
+    constexpr AABB box{{1.f, 4.f, 2.f}, {3.f, 10.f, 6.f}};
+    constexpr auto b = box.bottom<UpAxis::Z>();
+    EXPECT_FLOAT_EQ(b.x, 2.f);
+    EXPECT_FLOAT_EQ(b.y, 7.f);
+    EXPECT_FLOAT_EQ(b.z, 2.f);
+}
+
+TEST(AabbTests, BottomDefaultIsYUp)
+{
+    constexpr AABB box{{0.f, 0.f, 0.f}, {2.f, 4.f, 6.f}};
+    EXPECT_EQ(box.bottom(), box.bottom<UpAxis::Y>());
+}
+
+TEST(AabbTests, TopAndBottomAreSymmetric)
+{
+    constexpr AABB box{{-1.f, -2.f, -3.f}, {1.f, 2.f, 3.f}};
+    EXPECT_FLOAT_EQ(box.top<UpAxis::Y>().y, -box.bottom<UpAxis::Y>().y);
+    EXPECT_FLOAT_EQ(box.top<UpAxis::Z>().z, -box.bottom<UpAxis::Z>().z);
+}
+
+// --- is_collide() ---
+
+TEST(AabbTests, OverlappingBoxesCollide)
+{
+    constexpr AABB a{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    constexpr AABB b{{0.f, 0.f, 0.f}, {2.f, 2.f, 2.f}};
+    EXPECT_TRUE(a.is_collide(b));
+    EXPECT_TRUE(b.is_collide(a));
+}
+
+TEST(AabbTests, SeparatedBoxesDoNotCollide)
+{
+    constexpr AABB a{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    constexpr AABB b{{2.f, 2.f, 2.f}, {4.f, 4.f, 4.f}};
+    EXPECT_FALSE(a.is_collide(b));
+    EXPECT_FALSE(b.is_collide(a));
+}
+
+TEST(AabbTests, TouchingFacesCollide)
+{
+    constexpr AABB a{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    constexpr AABB b{{1.f, -1.f, -1.f}, {3.f, 1.f, 1.f}};
+    EXPECT_TRUE(a.is_collide(b));
+    EXPECT_TRUE(b.is_collide(a));
+}
+
+TEST(AabbTests, ContainedBoxCollides)
+{
+    constexpr AABB outer{{-3.f, -3.f, -3.f}, {3.f, 3.f, 3.f}};
+    constexpr AABB inner{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    EXPECT_TRUE(outer.is_collide(inner));
+    EXPECT_TRUE(inner.is_collide(outer));
+}
+
+TEST(AabbTests, SeparatedOnXAxisDoNotCollide)
+{
+    constexpr AABB a{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}};
+    constexpr AABB b{{2.f, 0.f, 0.f}, {3.f, 1.f, 1.f}};
+    EXPECT_FALSE(a.is_collide(b));
+}
+
+TEST(AabbTests, SeparatedOnYAxisDoNotCollide)
+{
+    constexpr AABB a{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}};
+    constexpr AABB b{{0.f, 2.f, 0.f}, {1.f, 3.f, 1.f}};
+    EXPECT_FALSE(a.is_collide(b));
+}
+
+TEST(AabbTests, SeparatedOnZAxisDoNotCollide)
+{
+    constexpr AABB a{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}};
+    constexpr AABB b{{0.f, 0.f, 2.f}, {1.f, 1.f, 3.f}};
+    EXPECT_FALSE(a.is_collide(b));
+}
+
+TEST(AabbTests, IdenticalBoxesCollide)
+{
+    constexpr AABB a{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    EXPECT_TRUE(a.is_collide(a));
+}
+
+TEST(AabbTests, DegeneratePointBoxCollidesWhenInsideOther)
+{
+    constexpr AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    constexpr AABB point{{0.f, 0.f, 0.f}, {0.f, 0.f, 0.f}};
+    EXPECT_TRUE(box.is_collide(point));
+    EXPECT_TRUE(point.is_collide(box));
+}
+
+TEST(AabbTests, DegeneratePointBoxDoesNotCollideWhenOutside)
+{
+    constexpr AABB box{{-1.f, -1.f, -1.f}, {1.f, 1.f, 1.f}};
+    constexpr AABB point{{5.f, 0.f, 0.f}, {5.f, 0.f, 0.f}};
+    EXPECT_FALSE(box.is_collide(point));
+    EXPECT_FALSE(point.is_collide(box));
+}

tests/general/unit_test_cry_pred_engine_trait.cpp

@@ -0,0 +1,275 @@
+//
+// Created by Vladislav on 20.04.2026.
+//
+#include <gtest/gtest.h>
+#include <omath/engines/cry_engine/traits/pred_engine_trait.hpp>
+#include <omath/projectile_prediction/projectile.hpp>
+#include <omath/projectile_prediction/target.hpp>
+
+using namespace omath;
+using namespace omath::cry_engine;
+
+// ---- predict_projectile_position ----
+
+TEST(CryPredEngineTrait, PredictProjectilePositionAtTimeZero)
+{
+    projectile_prediction::Projectile p;
+    p.m_origin       = {1.f, 2.f, 3.f};
+    p.m_launch_offset = {4.f, 5.f, 6.f};
+    p.m_launch_speed  = 100.f;
+    p.m_gravity_scale = 1.f;
+
+    const auto pos = PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 0.f, 9.81f);
+
+    // At t=0 no velocity is applied, just origin+offset
+    EXPECT_NEAR(pos.x, 5.f, 1e-4f);
+    EXPECT_NEAR(pos.y, 7.f, 1e-4f);
+    EXPECT_NEAR(pos.z, 9.f, 1e-4f);
+}
+
+TEST(CryPredEngineTrait, PredictProjectilePositionZeroAnglesForwardIsY)
+{
+    // Cry engine forward = +Y. At pitch=0, yaw=0 the projectile travels along +Y.
+    projectile_prediction::Projectile p;
+    p.m_origin       = {0.f, 0.f, 0.f};
+    p.m_launch_speed  = 10.f;
+    p.m_gravity_scale = 0.f; // no gravity so we isolate direction
+
+    const auto pos = PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 9.81f);
+
+    EXPECT_NEAR(pos.x, 0.f, 1e-4f);
+    EXPECT_NEAR(pos.y, 10.f, 1e-4f);
+    EXPECT_NEAR(pos.z, 0.f, 1e-4f);
+}
+
+TEST(CryPredEngineTrait, PredictProjectilePositionGravityDropsZ)
+{
+    projectile_prediction::Projectile p;
+    p.m_origin       = {0.f, 0.f, 0.f};
+    p.m_launch_speed  = 10.f;
+    p.m_gravity_scale = 1.f;
+
+    const auto pos = PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 2.f, 9.81f);
+
+    // z = 0 - (9.81 * 1) * (4) * 0.5 = -19.62
+    EXPECT_NEAR(pos.z, -9.81f * 4.f * 0.5f, 1e-3f);
+}
+
+TEST(CryPredEngineTrait, PredictProjectilePositionGravityScaleZeroNoZDrop)
+{
+    projectile_prediction::Projectile p;
+    p.m_origin       = {0.f, 0.f, 0.f};
+    p.m_launch_speed  = 10.f;
+    p.m_gravity_scale = 0.f;
+
+    const auto pos = PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 3.f, 9.81f);
+
+    EXPECT_NEAR(pos.z, 0.f, 1e-4f);
+}
+
+TEST(CryPredEngineTrait, PredictProjectilePositionWithLaunchOffset)
+{
+    projectile_prediction::Projectile p;
+    p.m_origin        = {5.f, 0.f, 0.f};
+    p.m_launch_offset = {0.f, 0.f, 2.f};
+    p.m_launch_speed  = 10.f;
+    p.m_gravity_scale = 0.f;
+
+    const auto pos = PredEngineTrait::predict_projectile_position(p, 0.f, 0.f, 1.f, 0.f);
+
+    // launch position = {5, 0, 2}, travels along +Y by 10
+    EXPECT_NEAR(pos.x, 5.f,  1e-4f);
+    EXPECT_NEAR(pos.y, 10.f, 1e-4f);
+    EXPECT_NEAR(pos.z, 2.f,  1e-4f);
+}
+
+// ---- predict_target_position ----
+
+TEST(CryPredEngineTrait, PredictTargetPositionGroundedStationary)
+{
+    projectile_prediction::Target t;
+    t.m_origin     = {10.f, 20.f, 5.f};
+    t.m_velocity   = {0.f, 0.f, 0.f};
+    t.m_is_airborne = false;
+
+    const auto pred = PredEngineTrait::predict_target_position(t, 5.f, 9.81f);
+
+    EXPECT_NEAR(pred.x, 10.f, 1e-6f);
+    EXPECT_NEAR(pred.y, 20.f, 1e-6f);
+    EXPECT_NEAR(pred.z,  5.f, 1e-6f);
+}
+
+TEST(CryPredEngineTrait, PredictTargetPositionGroundedMoving)
+{
+    projectile_prediction::Target t;
+    t.m_origin     = {0.f, 0.f, 0.f};
+    t.m_velocity   = {3.f, 4.f, 0.f};
+    t.m_is_airborne = false;
+
+    const auto pred = PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+
+    EXPECT_NEAR(pred.x, 6.f,  1e-6f);
+    EXPECT_NEAR(pred.y, 8.f,  1e-6f);
+    EXPECT_NEAR(pred.z, 0.f,  1e-6f); // grounded — no gravity
+}
+
+TEST(CryPredEngineTrait, PredictTargetPositionAirborneGravityDropsZ)
+{
+    projectile_prediction::Target t;
+    t.m_origin     = {0.f, 0.f, 20.f};
+    t.m_velocity   = {0.f, 0.f, 0.f};
+    t.m_is_airborne = true;
+
+    const auto pred = PredEngineTrait::predict_target_position(t, 2.f, 9.81f);
+
+    // z = 20 - 9.81 * 4 * 0.5 = 20 - 19.62 = 0.38
+    EXPECT_NEAR(pred.z, 20.f - 9.81f * 4.f * 0.5f, 1e-4f);
+}
+
+TEST(CryPredEngineTrait, PredictTargetPositionAirborneMovingWithGravity)
+{
+    projectile_prediction::Target t;
+    t.m_origin     = {0.f, 0.f, 50.f};
+    t.m_velocity   = {10.f, 5.f, 0.f};
+    t.m_is_airborne = true;
+
+    const auto pred = PredEngineTrait::predict_target_position(t, 3.f, 9.81f);
+
+    EXPECT_NEAR(pred.x, 30.f, 1e-4f);
+    EXPECT_NEAR(pred.y, 15.f, 1e-4f);
+    EXPECT_NEAR(pred.z, 50.f - 9.81f * 9.f * 0.5f, 1e-4f);
+}
+
+// ---- calc_vector_2d_distance ----
+
+TEST(CryPredEngineTrait, CalcVector2dDistance_3_4_5)
+{
+    EXPECT_NEAR(PredEngineTrait::calc_vector_2d_distance({3.f, 4.f, 999.f}), 5.f, 1e-5f);
+}
+
+TEST(CryPredEngineTrait, CalcVector2dDistance_ZeroVector)
+{
+    EXPECT_NEAR(PredEngineTrait::calc_vector_2d_distance({0.f, 0.f, 0.f}), 0.f, 1e-6f);
+}
+
+TEST(CryPredEngineTrait, CalcVector2dDistance_ZIgnored)
+{
+    // Z does not affect the 2D distance
+    EXPECT_NEAR(PredEngineTrait::calc_vector_2d_distance({0.f, 5.f, 100.f}),
+                PredEngineTrait::calc_vector_2d_distance({0.f, 5.f, 0.f}), 1e-6f);
+}
+
+// ---- get_vector_height_coordinate ----
+
+TEST(CryPredEngineTrait, GetVectorHeightCoordinate_ReturnsZ)
+{
+    // Cry engine up = +Z
+    EXPECT_FLOAT_EQ(PredEngineTrait::get_vector_height_coordinate({1.f, 2.f, 7.f}), 7.f);
+}
+
+// ---- calc_direct_pitch_angle ----
+
+TEST(CryPredEngineTrait, CalcDirectPitchAngle_Flat)
+{
+    // Target at same height → pitch = 0
+    EXPECT_NEAR(PredEngineTrait::calc_direct_pitch_angle({0.f, 0.f, 0.f}, {0.f, 100.f, 0.f}), 0.f, 1e-4f);
+}
+
+TEST(CryPredEngineTrait, CalcDirectPitchAngle_LookingUp)
+{
+    // Target at 45° above (equal XY distance and Z height)
+    // direction to {0, 1, 1} normalized = {0, 0.707, 0.707}, asin(0.707) = 45°
+    EXPECT_NEAR(PredEngineTrait::calc_direct_pitch_angle({0.f, 0.f, 0.f}, {0.f, 1.f, 1.f}), 45.f, 1e-3f);
+}
+
+TEST(CryPredEngineTrait, CalcDirectPitchAngle_LookingDown)
+{
+    // Target directly below
+    EXPECT_NEAR(PredEngineTrait::calc_direct_pitch_angle({0.f, 0.f, 10.f}, {0.f, 0.f, 0.f}), -90.f, 1e-3f);
+}
+
+TEST(CryPredEngineTrait, CalcDirectPitchAngle_LookingDirectlyUp)
+{
+    EXPECT_NEAR(PredEngineTrait::calc_direct_pitch_angle({0.f, 0.f, 0.f}, {0.f, 0.f, 100.f}), 90.f, 1e-3f);
+}
+
+// ---- calc_direct_yaw_angle ----
+
+TEST(CryPredEngineTrait, CalcDirectYawAngle_ForwardAlongY)
+{
+    // Cry engine forward = +Y → yaw = 0
+    EXPECT_NEAR(PredEngineTrait::calc_direct_yaw_angle({0.f, 0.f, 0.f}, {0.f, 100.f, 0.f}), 0.f, 1e-4f);
+}
+
+TEST(CryPredEngineTrait, CalcDirectYawAngle_AlongPositiveX)
+{
+    // direction = {1, 0, 0}, yaw = -atan2(1, 0) = -90°
+    EXPECT_NEAR(PredEngineTrait::calc_direct_yaw_angle({0.f, 0.f, 0.f}, {100.f, 0.f, 0.f}), -90.f, 1e-3f);
+}
+
+TEST(CryPredEngineTrait, CalcDirectYawAngle_AlongNegativeX)
+{
+    // direction = {-1, 0, 0}, yaw = -atan2(-1, 0) = 90°
+    EXPECT_NEAR(PredEngineTrait::calc_direct_yaw_angle({0.f, 0.f, 0.f}, {-100.f, 0.f, 0.f}), 90.f, 1e-3f);
+}
+
+TEST(CryPredEngineTrait, CalcDirectYawAngle_BackwardAlongNegY)
+{
+    // direction = {0, -1, 0}, yaw = -atan2(0, -1) = ±180°
+    const float yaw = PredEngineTrait::calc_direct_yaw_angle({0.f, 0.f, 0.f}, {0.f, -100.f, 0.f});
+    EXPECT_NEAR(std::abs(yaw), 180.f, 1e-3f);
+}
+
+TEST(CryPredEngineTrait, CalcDirectYawAngle_OffOriginCamera)
+{
+    // Same relative direction regardless of camera position
+    const float yaw_a = PredEngineTrait::calc_direct_yaw_angle({0.f, 0.f, 0.f}, {0.f, 100.f, 0.f});
+    const float yaw_b = PredEngineTrait::calc_direct_yaw_angle({50.f, 50.f, 0.f}, {50.f, 150.f, 0.f});
+    EXPECT_NEAR(yaw_a, yaw_b, 1e-4f);
+}
+
+// ---- calc_viewpoint_from_angles ----
+
+TEST(CryPredEngineTrait, CalcViewpointFromAngles_45Degrees)
+{
+    projectile_prediction::Projectile p;
+    p.m_origin      = {0.f, 0.f, 0.f};
+    p.m_launch_speed = 10.f;
+
+    // Target along +Y at distance 10; pitch=45° → height = 10 * tan(45°) = 10
+    const Vector3<float> target{0.f, 10.f, 0.f};
+    const auto vp = PredEngineTrait::calc_viewpoint_from_angles(p, target, 45.f);
+
+    EXPECT_NEAR(vp.x, 0.f,  1e-4f);
+    EXPECT_NEAR(vp.y, 10.f, 1e-4f);
+    EXPECT_NEAR(vp.z, 10.f, 1e-3f);
+}
+
+TEST(CryPredEngineTrait, CalcViewpointFromAngles_ZeroPitch)
+{
+    projectile_prediction::Projectile p;
+    p.m_origin      = {0.f, 0.f, 5.f};
+    p.m_launch_speed = 1.f;
+
+    const Vector3<float> target{3.f, 4.f, 0.f};
+    const auto vp = PredEngineTrait::calc_viewpoint_from_angles(p, target, 0.f);
+
+    // tan(0) = 0 → viewpoint Z = origin.z + 0 = 5
+    EXPECT_NEAR(vp.x, 3.f, 1e-4f);
+    EXPECT_NEAR(vp.y, 4.f, 1e-4f);
+    EXPECT_NEAR(vp.z, 5.f, 1e-4f);
+}
+
+TEST(CryPredEngineTrait, CalcViewpointXYMatchesPredictedTargetXY)
+{
+    projectile_prediction::Projectile p;
+    p.m_origin      = {1.f, 2.f, 3.f};
+    p.m_launch_speed = 50.f;
+
+    const Vector3<float> target{10.f, 20.f, 5.f};
+    const auto vp = PredEngineTrait::calc_viewpoint_from_angles(p, target, 30.f);
+
+    // X and Y always match the predicted target position
+    EXPECT_NEAR(vp.x, target.x, 1e-4f);
+    EXPECT_NEAR(vp.y, target.y, 1e-4f);
+}

tests/general/unit_test_line_tracer_obb.cpp

@@ -0,0 +1,281 @@
+//
+// Created by Vladislav on 07.05.2026.
+//
+#include "omath/3d_primitives/obb.hpp"
+#include "omath/collision/line_tracer.hpp"
+#include <cmath>
+#include <gtest/gtest.h>
+#include <numbers>
+
+using Vec3 = omath::Vector3<float>;
+using Ray = omath::collision::Ray<>;
+using LineTracer = omath::collision::LineTracer<>;
+using OBB = omath::primitives::Obb<float>;
+
+namespace
+{
+    Ray make_ray(const Vec3 start, const Vec3 end, const bool infinite = false)
+    {
+        Ray r;
+        r.start = start;
+        r.end = end;
+        r.infinite_length = infinite;
+        return r;
+    }
+
+    constexpr OBB axis_aligned_obb(const Vec3& center, const Vec3& half_extents) noexcept
+    {
+        return OBB{center, {1.f, 0.f, 0.f}, {0.f, 1.f, 0.f}, {0.f, 0.f, 1.f}, half_extents};
+    }
+
+    OBB rotated_around_z(const Vec3& center, const Vec3& half_extents, const float radians) noexcept
+    {
+        const auto c = std::cos(radians);
+        const auto s = std::sin(radians);
+        return OBB{center, {c, s, 0.f}, {-s, c, 0.f}, {0.f, 0.f, 1.f}, half_extents};
+    }
+
+    OBB rotated_around_y(const Vec3& center, const Vec3& half_extents, const float radians) noexcept
+    {
+        const auto c = std::cos(radians);
+        const auto s = std::sin(radians);
+        return OBB{center, {c, 0.f, -s}, {0.f, 1.f, 0.f}, {s, 0.f, c}, half_extents};
+    }
+} // namespace
+
+// --- axis-aligned OBB behaves like AABB ---
+
+TEST(LineTracerOBBTests, AxisAlignedHitAlongZ)
+{
+    const auto box = axis_aligned_obb({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f});
+    const auto ray = make_ray({0.f, 0.f, -5.f}, {0.f, 0.f, 5.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.y, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.z, -1.f, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, AxisAlignedHitAlongX)
+{
+    const auto box = axis_aligned_obb({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f});
+    const auto ray = make_ray({-5.f, 0.f, 0.f}, {5.f, 0.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, -1.f, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, MissReturnsEnd)
+{
+    const auto box = axis_aligned_obb({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f});
+    const auto ray = make_ray({0.f, 5.f, -5.f}, {0.f, 5.f, 5.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_EQ(hit, ray.end);
+}
+
+TEST(LineTracerOBBTests, RayTooShortReturnsEnd)
+{
+    const auto box = axis_aligned_obb({4.f, 0.f, 0.f}, {1.f, 1.f, 1.f});
+    const auto ray = make_ray({0.f, 0.f, 0.f}, {2.f, 0.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_EQ(hit, ray.end);
+}
+
+TEST(LineTracerOBBTests, InfiniteRayHits)
+{
+    const auto box = axis_aligned_obb({4.f, 0.f, 0.f}, {1.f, 1.f, 1.f});
+    const auto ray = make_ray({0.f, 0.f, 0.f}, {2.f, 0.f, 0.f}, true);
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, 3.f, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, RayStartsInsideBox)
+{
+    const auto box = axis_aligned_obb({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f});
+    const auto ray = make_ray({0.f, 0.f, 0.f}, {5.f, 0.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.y, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.z, 0.f, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, RayBehindBoxReturnsEnd)
+{
+    const auto box = axis_aligned_obb({4.f, 0.f, 0.f}, {1.f, 1.f, 1.f});
+    const auto ray = make_ray({10.f, 0.f, 0.f}, {20.f, 0.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_EQ(hit, ray.end);
+}
+
+// --- rotated OBB ---
+
+TEST(LineTracerOBBTests, RotatedBoxHitOnRotatedFace)
+{
+    // Box centred at the origin, rotated 45° around Z. After rotation, the box's "near" face
+    // (originally x=-1) is now perpendicular to the (1, 1, 0)/√2 direction. A ray approaching
+    // from +X (along world -X) first hits the box at the rotated face — at x = √2 ≈ 1.414.
+    const auto box = rotated_around_z({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, std::numbers::pi_v<float> / 4.f);
+    const auto ray = make_ray({5.f, 0.f, 0.f}, {-5.f, 0.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, std::numbers::sqrt2_v<float>, 1e-4f);
+    EXPECT_NEAR(hit.y, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.z, 0.f, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, RotatedAroundYBoxHitOnRotatedFace)
+{
+    const auto box = rotated_around_y({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, std::numbers::pi_v<float> / 4.f);
+    const auto ray = make_ray({0.f, 0.f, 5.f}, {0.f, 0.f, -5.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.y, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.z, std::numbers::sqrt2_v<float>, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, RotatedBoxMissesWhereAabbWouldHit)
+{
+    // A unit cube rotated 45° around Z has an XY footprint that is a diamond reaching
+    // (±√2, 0) and (0, ±√2). The AABB envelope spans x,y ∈ [-√2, √2], but at y just below √2
+    // the diamond is essentially a point. A ray at y = 1.43 is outside the diamond entirely
+    // (|x| + |y| ≤ √2 ⇒ |x| ≤ √2 - 1.43 < 0), yet it would still pass through the AABB
+    // envelope of the rotated box.
+    const auto box = rotated_around_z({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, std::numbers::pi_v<float> / 4.f);
+    const auto ray = make_ray({-5.f, 1.43f, 0.f}, {5.f, 1.43f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_EQ(hit, ray.end);
+}
+
+TEST(LineTracerOBBTests, RotatedThinBoxHitFromTheSide)
+{
+    // Long, thin axis-aligned slab along X, rotated 90° around Z so it now points along Y.
+    // A ray from +X straight back along -X must miss (the slab is thin in X), but a ray along
+    // -Y from +Y must hit.
+    const auto box = rotated_around_z({0.f, 0.f, 0.f}, {5.f, 0.5f, 1.f}, std::numbers::pi_v<float> / 2.f);
+
+    const auto ray_along_x = make_ray({10.f, 0.f, 0.f}, {-10.f, 0.f, 0.f});
+    const auto hit_x = LineTracer::get_ray_hit_point(ray_along_x, box);
+    EXPECT_NE(hit_x, ray_along_x.end);
+    EXPECT_NEAR(hit_x.x, 0.5f, 1e-4f); // hit on the rotated slab's narrow side
+
+    const auto ray_along_y = make_ray({0.f, 10.f, 0.f}, {0.f, -10.f, 0.f});
+    const auto hit_y = LineTracer::get_ray_hit_point(ray_along_y, box);
+    EXPECT_NE(hit_y, ray_along_y.end);
+    EXPECT_NEAR(hit_y.y, 5.f, 1e-4f); // hit on the long end at y=+5
+}
+
+TEST(LineTracerOBBTests, RotatedAndTranslatedBoxHit)
+{
+    const auto box = rotated_around_z({10.f, 5.f, 0.f}, {1.f, 1.f, 1.f}, std::numbers::pi_v<float> / 4.f);
+    // Ray approaches the rotated box from +X.
+    const auto ray = make_ray({20.f, 5.f, 0.f}, {0.f, 5.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, 10.f + std::numbers::sqrt2_v<float>, 1e-4f);
+    EXPECT_NEAR(hit.y, 5.f, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, RayStartsInsideRotatedBox)
+{
+    const auto box = rotated_around_z({2.f, 3.f, 0.f}, {2.f, 1.f, 1.f}, std::numbers::pi_v<float> / 6.f);
+    const auto ray = make_ray({2.f, 3.f, 0.f}, {10.f, 3.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, 2.f, 1e-4f);
+    EXPECT_NEAR(hit.y, 3.f, 1e-4f);
+    EXPECT_NEAR(hit.z, 0.f, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, TangentRayHitsRotatedBox)
+{
+    const auto box = rotated_around_z({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, std::numbers::pi_v<float> / 4.f);
+    const auto ray = make_ray({-5.f, std::numbers::sqrt2_v<float>, 0.f},
+                              {5.f, std::numbers::sqrt2_v<float>, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.y, std::numbers::sqrt2_v<float>, 1e-4f);
+    EXPECT_NEAR(hit.z, 0.f, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, DegeneratePlaneBoxCanBeHit)
+{
+    const auto box = axis_aligned_obb({0.f, 0.f, 0.f}, {1.f, 1.f, 0.f});
+    const auto ray = make_ray({0.f, 0.f, -5.f}, {0.f, 0.f, 5.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.y, 0.f, 1e-4f);
+    EXPECT_NEAR(hit.z, 0.f, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, ParallelRayOutsideMisses)
+{
+    // Ray runs parallel to a slab face, completely outside the slab.
+    const auto box = axis_aligned_obb({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f});
+    const auto ray = make_ray({-5.f, 2.f, 0.f}, {5.f, 2.f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_EQ(hit, ray.end);
+}
+
+TEST(LineTracerOBBTests, ParallelRayInsideHits)
+{
+    // Ray runs parallel to a slab face but inside the slab — should still hit the entry plane.
+    const auto box = axis_aligned_obb({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f});
+    const auto ray = make_ray({-5.f, 0.5f, 0.f}, {5.f, 0.5f, 0.f});
+
+    const auto hit = LineTracer::get_ray_hit_point(ray, box);
+    EXPECT_NE(hit, ray.end);
+    EXPECT_NEAR(hit.x, -1.f, 1e-4f);
+}
+
+TEST(LineTracerOBBTests, MatchesAabbForAxisAlignedBox)
+{
+    using AABB = omath::primitives::Aabb<float>;
+
+    struct
+    {
+        Vec3 center;
+        Vec3 half;
+        Vec3 ray_start;
+        Vec3 ray_end;
+    } cases[] = {
+            {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, {-5.f, 0.f, 0.f}, {5.f, 0.f, 0.f}},
+            {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, {0.f, -5.f, 0.f}, {0.f, 5.f, 0.f}},
+            {{4.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, {0.f, 0.f, 0.f}, {2.f, 0.f, 0.f}}, // too short
+            {{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, {-5.f, 5.f, 0.f}, {5.f, 5.f, 0.f}}, // miss
+            {{2.f, 3.f, -1.f}, {0.5f, 0.5f, 0.5f}, {0.f, 0.f, 0.f}, {10.f, 15.f, -5.f}}, // diagonal
+    };
+
+    for (const auto& [center, half, start, end]: cases)
+    {
+        const AABB aabb{center - half, center + half};
+        const auto obb = axis_aligned_obb(center, half);
+        const auto ray = make_ray(start, end);
+
+        const auto aabb_hit = LineTracer::get_ray_hit_point(ray, aabb);
+        const auto obb_hit = LineTracer::get_ray_hit_point(ray, obb);
+
+        EXPECT_NEAR(aabb_hit.x, obb_hit.x, 1e-4f);
+        EXPECT_NEAR(aabb_hit.y, obb_hit.y, 1e-4f);
+        EXPECT_NEAR(aabb_hit.z, obb_hit.z, 1e-4f);
+    }
+}

tests/general/unit_test_mat.cpp

@@ -1,6 +1,7 @@
 // UnitTestMat.cpp
 #include "omath/linear_algebra/mat.hpp"
 #include "omath/linear_algebra/vector3.hpp"
+#include "omath/trigonometry/angles.hpp"
 #include <gtest/gtest.h>
 
 using namespace omath;
@@ -220,8 +221,8 @@ TEST(UnitTestMatStandalone, Equanity)
     constexpr omath::Vector3<float> left_handed = {0, 2, 10};
     constexpr omath::Vector3<float> right_handed = {0, 2, -10};
 
-    const auto proj_left_handed = omath::mat_perspective_left_handed(90.f, 16.f / 9.f, 0.1, 1000);
+    const auto proj_left_handed = omath::mat_perspective_left_handed_vertical_fov(90.f, 16.f / 9.f, 0.1f, 1000.f);
-    const auto proj_right_handed = omath::mat_perspective_right_handed(90.f, 16.f / 9.f, 0.1, 1000);
+    const auto proj_right_handed = omath::mat_perspective_right_handed_vertical_fov(90.f, 16.f / 9.f, 0.1f, 1000.f);
 
     auto ndc_left_handed = proj_left_handed * omath::mat_column_from_vector(left_handed);
     auto ndc_right_handed = proj_right_handed * omath::mat_column_from_vector(right_handed);
@@ -233,7 +234,7 @@ TEST(UnitTestMatStandalone, Equanity)
 }
 TEST(UnitTestMatStandalone, MatPerspectiveLeftHanded)
 {
-    const auto perspective_proj = mat_perspective_left_handed(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
                              * mat_column_from_vector<float>({0, 0, 0.1001});
 
@@ -244,7 +245,7 @@ TEST(UnitTestMatStandalone, MatPerspectiveLeftHanded)
 
 TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedZeroToOne)
 {
-    const auto proj = mat_perspective_left_handed<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
@@ -266,7 +267,7 @@ TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedZeroToOne)
 
 TEST(UnitTestMatStandalone, MatPerspectiveRightHandedZeroToOne)
 {
-    const auto proj = mat_perspective_right_handed<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
@@ -289,8 +290,8 @@ TEST(UnitTestMatStandalone, MatPerspectiveRightHandedZeroToOne)
 TEST(UnitTestMatStandalone, MatPerspectiveNegativeOneToOneRange)
 {
     // Verify existing [-1, 1] behavior with explicit template arg matches default
-    const auto proj_default = mat_perspective_left_handed(90.f, 16.f / 9.f, 0.1f, 1000.f);
+    const auto proj_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<float, MatStoreType::ROW_MAJOR,
+    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);
 
     EXPECT_EQ(proj_default, proj_explicit);
@@ -306,15 +307,174 @@ TEST(UnitTestMatStandalone, MatPerspectiveNegativeOneToOneRange)
     EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-3f);
 }
 
+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);
+
+    // Near plane (negative z for RH) should map to z ~ -1
+    auto near_pt = proj * mat_column_from_vector<float>({0, 0, -0.1f});
+    near_pt /= near_pt.at(3, 0);
+    EXPECT_NEAR(near_pt.at(2, 0), -1.0f, 1e-3f);
+
+    // Far plane should map to z ~ 1
+    auto far_pt = proj * mat_column_from_vector<float>({0, 0, -1000.f});
+    far_pt /= far_pt.at(3, 0);
+    EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-3f);
+
+    // Mid-range point should be in (-1, 1)
+    auto mid_pt = proj * mat_column_from_vector<float>({0, 0, -500.f});
+    mid_pt /= mid_pt.at(3, 0);
+    EXPECT_GT(mid_pt.at(2, 0), -1.0f);
+    EXPECT_LT(mid_pt.at(2, 0),  1.0f);
+}
+
+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,
+            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});
+    near_pt /= near_pt.at(3, 0);
+    EXPECT_NEAR(near_pt.at(2, 0), 0.0f, 1e-4f);
+
+    // Far plane should map to z ~ 1
+    auto far_pt = proj * mat_column_from_vector<float>({0, 0, 1000.f});
+    far_pt /= far_pt.at(3, 0);
+    EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-4f);
+
+    // Right edge of horizontal frustum at near plane (view_x = tan(hfov/2)*near = 0.1)
+    auto right_edge = proj * mat_column_from_vector<float>({0.1f, 0, 0.1f});
+    right_edge /= right_edge.at(3, 0);
+    EXPECT_NEAR(right_edge.at(0, 0), 1.0f, 1e-4f);
+}
+
+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);
+
+    auto near_pt = proj * mat_column_from_vector<float>({0, 0, 0.1f});
+    near_pt /= near_pt.at(3, 0);
+    EXPECT_NEAR(near_pt.at(2, 0), -1.0f, 1e-3f);
+
+    auto far_pt = proj * mat_column_from_vector<float>({0, 0, 1000.f});
+    far_pt /= far_pt.at(3, 0);
+    EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-3f);
+
+    auto right_edge = proj * mat_column_from_vector<float>({0.1f, 0, 0.1f});
+    right_edge /= right_edge.at(3, 0);
+    EXPECT_NEAR(right_edge.at(0, 0), 1.0f, 1e-4f);
+}
+
+TEST(UnitTestMatStandalone, MatPerspectiveRightHandedHorizontalFovZeroToOne)
+{
+    const auto proj = 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);
+    EXPECT_NEAR(near_pt.at(2, 0), 0.0f, 1e-4f);
+
+    auto far_pt = proj * mat_column_from_vector<float>({0, 0, -1000.f});
+    far_pt /= far_pt.at(3, 0);
+    EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-4f);
+
+    auto right_edge = proj * mat_column_from_vector<float>({0.1f, 0, -0.1f});
+    right_edge /= right_edge.at(3, 0);
+    EXPECT_NEAR(right_edge.at(0, 0), 1.0f, 1e-4f);
+}
+
+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);
+
+    auto near_pt = proj * mat_column_from_vector<float>({0, 0, -0.1f});
+    near_pt /= near_pt.at(3, 0);
+    EXPECT_NEAR(near_pt.at(2, 0), -1.0f, 1e-3f);
+
+    auto far_pt = proj * mat_column_from_vector<float>({0, 0, -1000.f});
+    far_pt /= far_pt.at(3, 0);
+    EXPECT_NEAR(far_pt.at(2, 0), 1.0f, 1e-3f);
+
+    auto right_edge = proj * mat_column_from_vector<float>({0.1f, 0, -0.1f});
+    right_edge /= right_edge.at(3, 0);
+    EXPECT_NEAR(right_edge.at(0, 0), 1.0f, 1e-4f);
+}
+
+TEST(UnitTestMatStandalone, MatPerspectiveHorizontalVsVerticalFovEquivalence)
+{
+    constexpr float hfov_deg = 90.f;
+    constexpr float aspect   = 16.f / 9.f;
+    const float vfov_deg = angles::horizontal_fov_to_vertical(hfov_deg, aspect);
+
+    const auto proj_h = mat_perspective_left_handed_horizontal_fov(hfov_deg, aspect, 0.1f, 1000.f);
+    const auto proj_v = mat_perspective_left_handed_vertical_fov(vfov_deg, aspect, 0.1f, 1000.f);
+
+    for (size_t i = 0; i < 4; ++i)
+        for (size_t j = 0; j < 4; ++j)
+            EXPECT_NEAR(proj_h.at(i, j), proj_v.at(i, j), 1e-4f);
+}
+
+// Handedness contract: clip_w sign tells front-of-camera vs behind.
+// LH: +z view-space is in front  (clip_w > 0), -z is behind (clip_w < 0).
+// RH: -z view-space is in front  (clip_w > 0), +z is behind (clip_w < 0).
+TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedVerticalFovHandedness)
+{
+    const auto proj = mat_perspective_left_handed_vertical_fov(90.f, 16.f / 9.f, 0.1f, 1000.f);
+
+    const auto in_front = proj * mat_column_from_vector<float>({0, 0,  1.f});
+    const auto behind   = proj * mat_column_from_vector<float>({0, 0, -1.f});
+
+    EXPECT_GT(in_front.at(3, 0), 0.0f);
+    EXPECT_LT(behind.at(3, 0),   0.0f);
+}
+
+TEST(UnitTestMatStandalone, MatPerspectiveRightHandedVerticalFovHandedness)
+{
+    const auto proj = mat_perspective_right_handed_vertical_fov(90.f, 16.f / 9.f, 0.1f, 1000.f);
+
+    const auto in_front = proj * mat_column_from_vector<float>({0, 0, -1.f});
+    const auto behind   = proj * mat_column_from_vector<float>({0, 0,  1.f});
+
+    EXPECT_GT(in_front.at(3, 0), 0.0f);
+    EXPECT_LT(behind.at(3, 0),   0.0f);
+}
+
+TEST(UnitTestMatStandalone, MatPerspectiveLeftHandedHorizontalFovHandedness)
+{
+    const auto proj = mat_perspective_left_handed_horizontal_fov(90.f, 16.f / 9.f, 0.1f, 1000.f);
+
+    const auto in_front = proj * mat_column_from_vector<float>({0, 0,  1.f});
+    const auto behind   = proj * mat_column_from_vector<float>({0, 0, -1.f});
+
+    EXPECT_GT(in_front.at(3, 0), 0.0f);
+    EXPECT_LT(behind.at(3, 0),   0.0f);
+}
+
+TEST(UnitTestMatStandalone, MatPerspectiveRightHandedHorizontalFovHandedness)
+{
+    const auto proj = mat_perspective_right_handed_horizontal_fov(90.f, 16.f / 9.f, 0.1f, 1000.f);
+
+    const auto in_front = proj * mat_column_from_vector<float>({0, 0, -1.f});
+    const auto behind   = proj * mat_column_from_vector<float>({0, 0,  1.f});
+
+    EXPECT_GT(in_front.at(3, 0), 0.0f);
+    EXPECT_LT(behind.at(3, 0),   0.0f);
+}
+
 TEST(UnitTestMatStandalone, MatPerspectiveZeroToOneEquanity)
 {
     // LH and RH should produce same NDC for mirrored z
     constexpr omath::Vector3<float> left_handed = {0, 2, 10};
     constexpr omath::Vector3<float> right_handed = {0, 2, -10};
 
-    const auto proj_lh = mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+    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<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);

tests/general/unit_test_obb.cpp

@@ -0,0 +1,359 @@
+//
+// Created by Vladislav on 07.05.2026.
+//
+#include <cmath>
+#include <gtest/gtest.h>
+#include <numbers>
+#include <omath/3d_primitives/obb.hpp>
+#include <omath/engines/opengl_engine/camera.hpp>
+#include <omath/engines/source_engine/camera.hpp>
+#include <omath/engines/unity_engine/camera.hpp>
+#include <omath/projection/camera.hpp>
+
+using ObbF = omath::primitives::Obb<float>;
+using ObbD = omath::primitives::Obb<double>;
+using Vec3F = omath::Vector3<float>;
+using Vec3D = omath::Vector3<double>;
+
+namespace
+{
+    constexpr ObbF axis_aligned_obb(const Vec3F& center, const Vec3F& half_extents) noexcept
+    {
+        return ObbF{center, {1.f, 0.f, 0.f}, {0.f, 1.f, 0.f}, {0.f, 0.f, 1.f}, half_extents};
+    }
+
+    ObbF rotated_around_z(const Vec3F& center, const Vec3F& half_extents, const float radians) noexcept
+    {
+        const auto c = std::cos(radians);
+        const auto s = std::sin(radians);
+        return ObbF{center, {c, s, 0.f}, {-s, c, 0.f}, {0.f, 0.f, 1.f}, half_extents};
+    }
+
+    ObbF rotated_around_y(const Vec3F& center, const Vec3F& half_extents, const float radians) noexcept
+    {
+        const auto c = std::cos(radians);
+        const auto s = std::sin(radians);
+        return ObbF{center, {c, 0.f, -s}, {0.f, 1.f, 0.f}, {s, 0.f, c}, half_extents};
+    }
+
+    void expect_vec_near(const Vec3F& actual, const Vec3F& expected, const float epsilon = 1e-5f)
+    {
+        EXPECT_NEAR(actual.x, expected.x, epsilon);
+        EXPECT_NEAR(actual.y, expected.y, epsilon);
+        EXPECT_NEAR(actual.z, expected.z, epsilon);
+    }
+} // namespace
+
+// --- struct-level tests ---
+
+TEST(ObbTests, VerticesOfAxisAlignedUnitBox)
+{
+    constexpr auto box = axis_aligned_obb({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f});
+    constexpr auto v = box.vertices();
+
+    EXPECT_EQ(v[0], (Vec3F{-1.f, -1.f, -1.f}));
+    EXPECT_EQ(v[1], (Vec3F{1.f, -1.f, -1.f}));
+    EXPECT_EQ(v[2], (Vec3F{-1.f, 1.f, -1.f}));
+    EXPECT_EQ(v[3], (Vec3F{1.f, 1.f, -1.f}));
+    EXPECT_EQ(v[4], (Vec3F{-1.f, -1.f, 1.f}));
+    EXPECT_EQ(v[5], (Vec3F{1.f, -1.f, 1.f}));
+    EXPECT_EQ(v[6], (Vec3F{-1.f, 1.f, 1.f}));
+    EXPECT_EQ(v[7], (Vec3F{1.f, 1.f, 1.f}));
+}
+
+TEST(ObbTests, VerticesOfTranslatedBox)
+{
+    constexpr auto box = axis_aligned_obb({10.f, 20.f, 30.f}, {1.f, 2.f, 3.f});
+    constexpr auto v = box.vertices();
+
+    EXPECT_EQ(v[0], (Vec3F{9.f, 18.f, 27.f}));
+    EXPECT_EQ(v[7], (Vec3F{11.f, 22.f, 33.f}));
+}
+
+TEST(ObbTests, VerticesOfRotatedBox)
+{
+    constexpr auto pi = std::numbers::pi_v<float>;
+    const auto box = rotated_around_z({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, pi / 2.f);
+    const auto v = box.vertices();
+
+    // After 90° rotation around Z, local +X maps to world +Y, local +Y maps to world -X.
+    // The eight vertices are still the same eight points (a cube is symmetric), but their
+    // ordering changes. Check that the corner set as a whole is still |coord| == 1.
+    for (const auto& corner : v)
+    {
+        EXPECT_NEAR(std::abs(corner.x), 1.f, 1e-5f);
+        EXPECT_NEAR(std::abs(corner.y), 1.f, 1e-5f);
+        EXPECT_NEAR(std::abs(corner.z), 1.f, 1e-5f);
+    }
+}
+
+TEST(ObbTests, VerticesOfTranslatedNonUniformRotatedBox)
+{
+    const auto box = rotated_around_z({2.f, 3.f, 4.f}, {2.f, 1.f, 0.5f}, std::numbers::pi_v<float> / 2.f);
+    const auto v = box.vertices();
+
+    expect_vec_near(v[0], {3.f, 1.f, 3.5f});
+    expect_vec_near(v[1], {3.f, 5.f, 3.5f});
+    expect_vec_near(v[2], {1.f, 1.f, 3.5f});
+    expect_vec_near(v[3], {1.f, 5.f, 3.5f});
+    expect_vec_near(v[4], {3.f, 1.f, 4.5f});
+    expect_vec_near(v[5], {3.f, 5.f, 4.5f});
+    expect_vec_near(v[6], {1.f, 1.f, 4.5f});
+    expect_vec_near(v[7], {1.f, 5.f, 4.5f});
+}
+
+TEST(ObbTests, VerticesCollapseWhenOneExtentIsZero)
+{
+    constexpr auto box = axis_aligned_obb({1.f, 2.f, 3.f}, {2.f, 0.f, 4.f});
+    constexpr auto v = box.vertices();
+
+    EXPECT_EQ(v[0], v[2]);
+    EXPECT_EQ(v[1], v[3]);
+    EXPECT_EQ(v[4], v[6]);
+    EXPECT_EQ(v[5], v[7]);
+
+    EXPECT_EQ(v[0], (Vec3F{-1.f, 2.f, -1.f}));
+    EXPECT_EQ(v[1], (Vec3F{3.f, 2.f, -1.f}));
+    EXPECT_EQ(v[4], (Vec3F{-1.f, 2.f, 7.f}));
+    EXPECT_EQ(v[5], (Vec3F{3.f, 2.f, 7.f}));
+}
+
+TEST(ObbTests, DoublePrecisionInstantiation)
+{
+    constexpr ObbD box{{0.0, 0.0, 0.0}, {1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}, {2.0, 3.0, 4.0}};
+    constexpr auto v = box.vertices();
+    EXPECT_DOUBLE_EQ(v[0].x, -2.0);
+    EXPECT_DOUBLE_EQ(v[0].y, -3.0);
+    EXPECT_DOUBLE_EQ(v[0].z, -4.0);
+    EXPECT_DOUBLE_EQ(v[7].x, 2.0);
+    EXPECT_DOUBLE_EQ(v[7].y, 3.0);
+    EXPECT_DOUBLE_EQ(v[7].z, 4.0);
+}
+
+// --- frustum culling tests (Source Engine: +X forward, +Y left, +Z up) ---
+
+TEST(ObbTests, AxisAlignedInFrontNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    constexpr auto obb = axis_aligned_obb({100.f, 0.f, 0.f}, {10.f, 1.f, 1.f});
+    EXPECT_FALSE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, AxisAlignedBehindCameraCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    constexpr auto obb = axis_aligned_obb({-150.f, 0.f, 0.f}, {50.f, 1.f, 1.f});
+    EXPECT_TRUE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, AxisAlignedBeyondFarPlaneCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    constexpr auto obb = axis_aligned_obb({1750.f, 0.f, 0.f}, {250.f, 1.f, 1.f});
+    EXPECT_TRUE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, AxisAlignedStraddlingFarPlaneNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    constexpr auto obb = axis_aligned_obb({1005.f, 0.f, 0.f}, {10.f, 1.f, 1.f});
+    EXPECT_FALSE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, AxisAlignedFarLeftCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    constexpr auto obb = axis_aligned_obb({100.f, 4500.f, 0.f}, {10.f, 500.f, 1.f});
+    EXPECT_TRUE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, AxisAlignedFarRightCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    constexpr auto obb = axis_aligned_obb({100.f, -4500.f, 0.f}, {10.f, 500.f, 1.f});
+    EXPECT_TRUE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, AxisAlignedAboveCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    constexpr auto obb = axis_aligned_obb({100.f, 0.f, 5500.f}, {10.f, 1.f, 500.f});
+    EXPECT_TRUE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, AxisAlignedBelowCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    constexpr auto obb = axis_aligned_obb({100.f, 0.f, -5500.f}, {10.f, 1.f, 500.f});
+    EXPECT_TRUE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, MatchesAabbForAxisAlignedBox)
+{
+    // For axis-aligned OBBs, the result must agree with is_aabb_culled_by_frustum.
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    const struct
+    {
+        Vec3F center;
+        Vec3F half;
+    } cases[] = {
+            {{100.f, 0.f, 0.f}, {10.f, 1.f, 1.f}}, // in front
+            {{-150.f, 0.f, 0.f}, {50.f, 1.f, 1.f}}, // behind
+            {{1750.f, 0.f, 0.f}, {250.f, 1.f, 1.f}}, // beyond far
+            {{100.f, 4500.f, 0.f}, {10.f, 500.f, 1.f}}, // far left
+            {{0.f, 0.f, 0.f}, {500.f, 500.f, 500.f}}, // encloses camera
+            {{275.f, 0.f, 0.f}, {225.f, 1.f, 1.f}}, // straddles near
+    };
+
+    for (const auto& [center, half]: cases)
+    {
+        const omath::primitives::Aabb<float> aabb{center - half, center + half};
+        const auto obb = axis_aligned_obb(center, half);
+        EXPECT_EQ(cam.is_obb_culled_by_frustum(obb), cam.is_aabb_culled_by_frustum(aabb))
+                << "mismatch for center (" << center.x << "," << center.y << "," << center.z << ")";
+    }
+}
+
+TEST(ObbTests, RotationCanPullBoxIntoFrustum)
+{
+    // Tall thin column sitting just outside the +Y frustum boundary at X=50.
+    // Axis-aligned: every corner has Y≈100 at X≈50, all outside the +Y plane → culled.
+    // Rotated 90° around world Y: the 50-unit extent now points along world +X, so the rod
+    // sweeps forward to X≈100 where the +Y plane is far more permissive — front end inside,
+    // box no longer fully outside → not culled.
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    constexpr Vec3F center{50.f, 100.f, 0.f};
+    constexpr Vec3F half{1.f, 1.f, 50.f};
+
+    constexpr auto axis_aligned = axis_aligned_obb(center, half);
+    EXPECT_TRUE(cam.is_obb_culled_by_frustum(axis_aligned));
+
+    const auto rotated = rotated_around_y(center, half, std::numbers::pi_v<float> / 2.f);
+    EXPECT_FALSE(cam.is_obb_culled_by_frustum(rotated));
+}
+
+TEST(ObbTests, RotationCanPushBoxOutOfFrustum)
+{
+    // Long forward-pointing rod whose front end pokes into the frustum near the +Y boundary.
+    // Axis-aligned (long along X): the front end at X≈100 has Y=129 just inside the +Y plane,
+    // so part of the rod is visible → not culled.
+    // Rotated 90° around Z: the rod's long axis now points along world Y, so all corners
+    // shift to Y∈[80,180] at X≈50 — every corner is outside the +Y plane → culled.
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    constexpr Vec3F center{50.f, 130.f, 0.f};
+    constexpr Vec3F half{50.f, 1.f, 1.f};
+
+    constexpr auto axis_aligned = axis_aligned_obb(center, half);
+    EXPECT_FALSE(cam.is_obb_culled_by_frustum(axis_aligned));
+
+    const auto rotated = rotated_around_z(center, half, std::numbers::pi_v<float> / 2.f);
+    EXPECT_TRUE(cam.is_obb_culled_by_frustum(rotated));
+}
+
+TEST(ObbTests, RotatedBoxStraddlingFrustumNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    // Box centred in front, rotated 30° — clearly straddles into the frustum.
+    const auto obb = rotated_around_z({200.f, 0.f, 0.f}, {50.f, 50.f, 50.f},
+                                      std::numbers::pi_v<float> / 6.f);
+    EXPECT_FALSE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, OpenGlEngineRotatedInFrontNotCulled)
+{
+    // OpenGL: -Z forward, COLUMN_MAJOR, NEGATIVE_ONE_TO_ONE
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    const auto obb = rotated_around_z({0.f, 0.f, -100.f}, {5.f, 5.f, 5.f},
+                                      std::numbers::pi_v<float> / 4.f);
+    EXPECT_FALSE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, OpenGlEngineBehindCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    constexpr auto obb = axis_aligned_obb({0.f, 0.f, 100.f}, {5.f, 5.f, 5.f});
+    EXPECT_TRUE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, OpenGlEngineStraddlingFarPlaneNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::opengl_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 100.f);
+
+    const auto obb = rotated_around_z({0.f, 0.f, -105.f}, {5.f, 5.f, 10.f},
+                                      std::numbers::pi_v<float> / 4.f);
+    EXPECT_FALSE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, UnityEngineBeyondFarCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
+    const auto cam = omath::unity_engine::Camera({0, 0, 0}, {}, {1280.f, 720.f}, fov, 0.03f, 500.f);
+
+    const auto obb = rotated_around_z({0.f, 0.f, 700.f}, {5.f, 5.f, 5.f},
+                                      std::numbers::pi_v<float> / 4.f);
+    EXPECT_TRUE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, DegenerateZeroVolumeInsideNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    // Zero-extent OBB — collapses to a point, but still must not be culled if the centre is inside.
+    constexpr auto obb = axis_aligned_obb({100.f, 0.f, 0.f}, {0.f, 0.f, 0.f});
+    EXPECT_FALSE(cam.is_obb_culled_by_frustum(obb));
+}
+
+TEST(ObbTests, EnclosingCameraNotCulled)
+{
+    constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+    const auto cam = omath::source_engine::Camera({0, 0, 0}, omath::source_engine::ViewAngles{}, {1920.f, 1080.f}, fov,
+                                                  0.01f, 1000.f);
+
+    // Huge rotated box that fully encloses the camera origin.
+    const auto obb = rotated_around_z({0.f, 0.f, 0.f}, {500.f, 500.f, 500.f},
+                                      std::numbers::pi_v<float> / 5.f);
+    EXPECT_FALSE(cam.is_obb_culled_by_frustum(obb));
+}