added files

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

@@ -1,92 +0,0 @@
----
-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

@@ -1,67 +0,0 @@
----
-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

@@ -1,92 +0,0 @@
----
-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

@@ -1,67 +0,0 @@
----
-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

@@ -139,7 +139,6 @@
     <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

@@ -1,65 +0,0 @@
-# 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

@@ -1,65 +0,0 @@
-# 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

@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 3.26)
+
 file(READ VERSION OMATH_VERSION)
 project(omath VERSION ${OMATH_VERSION} LANGUAGES CXX)
 
@@ -30,10 +31,9 @@ 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")
@@ -48,8 +48,6 @@ 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()
@@ -82,10 +80,6 @@ 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")
 
@@ -106,20 +100,6 @@ 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}")
@@ -167,6 +147,10 @@ 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

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

README.md

@@ -81,7 +81,7 @@ if (auto screen = camera.world_to_screen(world_position)) {
 - **Collision Detection**: Production ready code to handle collision detection by using simple interfaces.
 - **No Additional Dependencies**: No additional dependencies need to use OMath except unit test execution
 - **Ready for meta-programming**: Omath use templates for common types like Vectors, Matrixes etc, to handle all types!
-- **Engine support**: Supports coordinate systems of **Source, Rage, Unity, Unreal, Frostbite, IWEngine, CryEngine and canonical OpenGL**.
+- **Engine support**: Supports coordinate systems of **Source, Unity, Unreal, Frostbite, IWEngine, CryEngine and canonical OpenGL**.
 - **Cross platform**: Supports Windows, MacOS and Linux.
 - **Algorithms**: Has ability to scan for byte pattern with wildcards in ELF/Mach-O/PE files/modules, binary slices, works even with Wine apps. 
 - **Scripting**: Supports to make scripts in Lua out of box.
@@ -113,10 +113,6 @@ if (auto screen = camera.world_to_screen(world_position)) {
 
 <br>
 
-![GTA5 Preview]
-
-<br>
-
 ![OpenGL Preview]
 
 <br>
@@ -148,7 +144,6 @@ if (auto screen = camera.world_to_screen(world_position)) {
 [BO2 Preview]: docs/images/showcase/cod_bo2.png
 [CS2 Preview]: docs/images/showcase/cs2.jpeg
 [TF2 Preview]: docs/images/showcase/tf2.jpg
-[GTA5 Preview]: https://i.imgur.com/W7T8RhZ.png
 [OpenGL Preview]: docs/images/showcase/opengl.png
 <!----------------------------------{ Buttons }--------------------------------->
 [QUICKSTART]: docs/getting_started.md

VERSION

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

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

examples/CMakeLists.txt

@@ -4,20 +4,6 @@ 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

@@ -1,13 +0,0 @@
-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

@@ -1,154 +0,0 @@
-#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

@@ -1,13 +0,0 @@
-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

@@ -1,254 +0,0 @@
-#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

@@ -1,13 +0,0 @@
-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

@@ -1,107 +0,0 @@
-#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_abs_forward();
+            move_dir += camera.get_forward();
 
         if (glfwGetKey(window, GLFW_KEY_A))
-            move_dir -= camera.get_abs_right();
+            move_dir -= camera.get_right();
 
         if (glfwGetKey(window, GLFW_KEY_S))
-            move_dir -= camera.get_abs_forward();
+            move_dir -= camera.get_forward();
 
         if (glfwGetKey(window, GLFW_KEY_D))
-            move_dir += camera.get_abs_right();
+            move_dir += camera.get_right();
 
         if (glfwGetKey(window, GLFW_KEY_SPACE))
-            move_dir += camera.get_abs_up();
+            move_dir += camera.get_up();
 
         if (glfwGetKey(window, GLFW_KEY_LEFT_CONTROL))
-            move_dir -= camera.get_abs_up();
+            move_dir -= camera.get_up();
 
 
         auto delta = glfwGetTime() - old_mouse_time;

examples/example_hud/gui/main_window.cpp

@@ -71,7 +71,6 @@ namespace imgui_desktop::gui
             ImGui::SliderFloat("X##ent", &m_entity_x, 100.f, vp->Size.x - 100.f);
             ImGui::SliderFloat("Top Y", &m_entity_top_y, 20.f, m_entity_bottom_y - 20.f);
             ImGui::SliderFloat("Bottom Y", &m_entity_bottom_y, m_entity_top_y + 20.f, vp->Size.y - 20.f);
-            ImGui::SliderFloat("Aspect", &m_entity_aspect, 1.f, 10.f);
         }
 
         if (ImGui::CollapsingHeader("Box", ImGuiTreeNodeFlags_DefaultOpen))
@@ -83,7 +82,6 @@ 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();
@@ -197,76 +195,58 @@ namespace imgui_desktop::gui
         const DashedBar dbar{m_bar_color, m_bar_outline_color, m_bar_bg_color, m_bar_width,
                              m_bar_value, m_bar_dash_len,      m_bar_dash_gap, m_bar_offset};
 
-        auto outline_helper = [](const bool is_outline) -> Outlined
-        {
-            return is_outline ? Outlined::On : Outlined::Off;
-        };
-        omath::hud::EntityOverlay({m_entity_x, m_entity_top_y}, {m_entity_x, m_entity_bottom_y}, m_entity_aspect,
+        omath::hud::EntityOverlay({m_entity_x, m_entity_top_y}, {m_entity_x, m_entity_bottom_y},
                                   std::make_shared<omath::hud::ImguiHudRenderer>())
                 .contents(
                         // ── Boxes ────────────────────────────────────────────────────
-                        when(m_show_box, Box{m_box_color, m_box_fill, m_box_outline, m_box_thickness}),
+                        when(m_show_box, Box{m_box_color, m_box_fill, m_box_thickness}),
                         when(m_show_cornered_box, CorneredBox{omath::Color::from_rgba(255, 0, 255, 255), m_box_fill,
-                                                              m_box_outline, m_corner_ratio, m_box_thickness}),
+                                                              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),
                                 when(m_show_right_dashed_bar, dbar),
-                                when(m_show_right_labels, Label{{0.f, 1.f, 0.f, 1.f},
-                                                                m_label_offset,
-                                                                outline_helper(m_outlined),
-                                                                "Health: 100/100"}),
-                                when(m_show_right_labels, Label{{1.f, 0.f, 0.f, 1.f},
-                                                                m_label_offset,
-                                                                outline_helper(m_outlined),
-                                                                "Shield: 125/125"}),
-                                when(m_show_right_labels, Label{{1.f, 0.f, 1.f, 1.f},
-                                                                m_label_offset,
-                                                                outline_helper(m_outlined),
-                                                                "*LOCKED*"}),
+                                when(m_show_right_labels,
+                                     Label{{0.f, 1.f, 0.f, 1.f}, m_label_offset, m_outlined, "Health: 100/100"}),
+                                when(m_show_right_labels,
+                                     Label{{1.f, 0.f, 0.f, 1.f}, m_label_offset, m_outlined, "Shield: 125/125"}),
+                                when(m_show_right_labels,
+                                     Label{{1.f, 0.f, 1.f, 1.f}, m_label_offset, m_outlined, "*LOCKED*"}),
 
-                                SpaceVertical{10},
+                            SpaceVertical{10},
                                 when(m_show_ring, ProgressRing{m_ring_color, m_ring_bg, m_ring_radius, m_ring_ratio,
                                                                m_ring_thickness, m_ring_offset}),
                         },
                         LeftSide{
                                 when(m_show_left_bar, bar),
                                 when(m_show_left_dashed_bar, dbar),
-                                when(m_show_left_labels,
-                                     Label{omath::Color::from_rgba(255, 128, 0, 255), m_label_offset,
-                                           outline_helper(m_outlined), "Armor: 75"}),
-                                when(m_show_left_labels,
-                                     Label{omath::Color::from_rgba(0, 200, 255, 255), m_label_offset,
-                                           outline_helper(m_outlined), "Level: 42"}),
+                                when(m_show_left_labels, Label{omath::Color::from_rgba(255, 128, 0, 255),
+                                                               m_label_offset, m_outlined, "Armor: 75"}),
+                                when(m_show_left_labels, Label{omath::Color::from_rgba(0, 200, 255, 255),
+                                                               m_label_offset, m_outlined, "Level: 42"}),
                         },
                         TopSide{
                                 when(m_show_top_bar, bar),
                                 when(m_show_top_dashed_bar, dbar),
-                                when(m_show_centered_top,
-                                     Centered{Label{omath::Color::from_rgba(0, 255, 255, 255), m_label_offset,
-                                                    outline_helper(m_outlined), "*VISIBLE*"}}),
+                                when(m_show_centered_top, Centered{Label{omath::Color::from_rgba(0, 255, 255, 255),
+                                                                         m_label_offset, m_outlined, "*VISIBLE*"}}),
                                 when(m_show_top_labels, Label{omath::Color::from_rgba(255, 255, 0, 255), m_label_offset,
-                                                              outline_helper(m_outlined), "*SCOPED*"}),
+                                                              m_outlined, "*SCOPED*"}),
                                 when(m_show_top_labels, Label{omath::Color::from_rgba(255, 0, 0, 255), m_label_offset,
-                                                              outline_helper(m_outlined), "*BLEEDING*"}),
+                                                              m_outlined, "*BLEEDING*"}),
                         },
                         BottomSide{
                                 when(m_show_bottom_bar, bar),
                                 when(m_show_bottom_dashed_bar, dbar),
-                                when(m_show_centered_bottom,
-                                     Centered{Label{omath::Color::from_rgba(255, 255, 255, 255), m_label_offset,
-                                                    outline_helper(m_outlined), "PlayerName"}}),
+                                when(m_show_centered_bottom, Centered{Label{omath::Color::from_rgba(255, 255, 255, 255),
+                                                                            m_label_offset, m_outlined, "PlayerName"}}),
                                 when(m_show_bottom_labels, Label{omath::Color::from_rgba(200, 200, 0, 255),
-                                                                 m_label_offset, outline_helper(m_outlined), "42m"}),
+                                                                 m_label_offset, m_outlined, "42m"}),
                         },
-                        when(m_show_aim, AimDot{{m_entity_x, m_entity_top_y + 40.f}, m_aim_color, m_aim_radius}),
+                        when(m_show_aim, AimDot{{m_entity_x, m_entity_top_y+40.f}, m_aim_color, m_aim_radius}),
                         when(m_show_scan, ScanMarker{m_scan_color, m_scan_outline, m_scan_outline_thickness}),
                         when(m_show_skeleton, Skeleton{m_skel_color, m_skel_thickness}),
-                        when(m_show_proj, ProjectileAim{{m_proj_pos_x, m_proj_pos_y},
-                                                        m_proj_color,
-                                                        m_proj_size,
-                                                        m_proj_line_width,
-                                                        static_cast<ProjectileAim::Figure>(m_proj_figure)}),
+                        when(m_show_proj, ProjectileAim{{m_proj_pos_x, m_proj_pos_y}, m_proj_color, m_proj_size, m_proj_line_width, static_cast<ProjectileAim::Figure>(m_proj_figure)}),
                         when(m_show_snap, SnapLine{{vp->Size.x / 2.f, vp->Size.y}, m_snap_color, m_snap_width}));
     }
 

examples/example_hud/gui/main_window.hpp

@@ -26,11 +26,11 @@ namespace imgui_desktop::gui
         bool m_opened = true;
 
         // Entity
-        float m_entity_x = 550.f, m_entity_top_y = 150.f, m_entity_bottom_y = 450.f, m_entity_aspect = 4.f;
+        float m_entity_x = 550.f, m_entity_top_y = 150.f, m_entity_bottom_y = 450.f;
+
         // 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

@@ -1,13 +0,0 @@
-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

@@ -1,116 +0,0 @@
-#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

@@ -7,8 +7,6 @@
 
 namespace omath::primitives
 {
-    enum class UpAxis { X, Y, Z };
-
     template<class Type>
     struct Aabb final
     {
@@ -26,42 +24,5 @@ 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

@@ -1,37 +0,0 @@
-//
-// 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/bvh_tree.hpp

@@ -0,0 +1,412 @@
+//
+// Created by Orange on 04/08/2026.
+//
+
+#pragma once
+#include "omath/3d_primitives/aabb.hpp"
+#include "omath/collision/line_tracer.hpp"
+#include <algorithm>
+#include <cstdint>
+#include <numeric>
+#include <span>
+#include <vector>
+
+namespace omath::collision
+{
+    template<class Type = float>
+    class BvhTree final
+    {
+    public:
+        using AabbType = primitives::Aabb<Type>;
+
+        struct HitResult
+        {
+            std::size_t object_index;
+            Type distance_sqr;
+        };
+
+        BvhTree() = default;
+
+        explicit BvhTree(std::span<const AabbType> aabbs)
+            : m_aabbs(aabbs.begin(), aabbs.end())
+        {
+            if (aabbs.empty())
+                return;
+
+            m_indices.resize(aabbs.size());
+            std::iota(m_indices.begin(), m_indices.end(), std::size_t{0});
+
+            m_nodes.reserve(aabbs.size() * 2);
+
+            build(m_aabbs, 0, aabbs.size());
+        }
+
+        [[nodiscard]]
+        std::vector<std::size_t> query_overlaps(const AabbType& query_aabb) const
+        {
+            std::vector<std::size_t> results;
+
+            if (m_nodes.empty())
+                return results;
+
+            query_overlaps_impl(0, query_aabb, results);
+            return results;
+        }
+
+        template<class RayType = Ray<>>
+        [[nodiscard]]
+        std::vector<HitResult> query_ray(const RayType& ray) const
+        {
+            std::vector<HitResult> results;
+
+            if (m_nodes.empty())
+                return results;
+
+            query_ray_impl(0, ray, results);
+
+            std::ranges::sort(results, [](const HitResult& a, const HitResult& b)
+                              { return a.distance_sqr < b.distance_sqr; });
+            return results;
+        }
+
+        [[nodiscard]]
+        std::size_t node_count() const noexcept
+        {
+            return m_nodes.size();
+        }
+
+        [[nodiscard]]
+        bool empty() const noexcept
+        {
+            return m_nodes.empty();
+        }
+
+    private:
+        static constexpr std::size_t k_sah_bucket_count = 12;
+        static constexpr std::size_t k_leaf_threshold = 1;
+        static constexpr std::size_t k_null_index = std::numeric_limits<std::size_t>::max();
+
+        struct Node
+        {
+            AabbType bounds;
+            std::size_t left = k_null_index;
+            std::size_t right = k_null_index;
+
+            // For leaf nodes: index range into m_indices
+            std::size_t first_index = 0;
+            std::size_t index_count = 0;
+
+            [[nodiscard]]
+            bool is_leaf() const noexcept
+            {
+                return left == k_null_index;
+            }
+        };
+
+        struct SahBucket
+        {
+            AabbType bounds = {
+                {std::numeric_limits<Type>::max(), std::numeric_limits<Type>::max(),
+                 std::numeric_limits<Type>::max()},
+                {std::numeric_limits<Type>::lowest(), std::numeric_limits<Type>::lowest(),
+                 std::numeric_limits<Type>::lowest()}
+            };
+            std::size_t count = 0;
+        };
+
+        [[nodiscard]]
+        static constexpr Type surface_area(const AabbType& aabb) noexcept
+        {
+            const auto d = aabb.max - aabb.min;
+            return static_cast<Type>(2) * (d.x * d.y + d.y * d.z + d.z * d.x);
+        }
+
+        [[nodiscard]]
+        static constexpr AabbType merge(const AabbType& a, const AabbType& b) noexcept
+        {
+            return {
+                {std::min(a.min.x, b.min.x), std::min(a.min.y, b.min.y), std::min(a.min.z, b.min.z)},
+                {std::max(a.max.x, b.max.x), std::max(a.max.y, b.max.y), std::max(a.max.z, b.max.z)}
+            };
+        }
+
+        [[nodiscard]]
+        static constexpr bool overlaps(const AabbType& a, const AabbType& b) noexcept
+        {
+            return a.min.x <= b.max.x && a.max.x >= b.min.x
+                && a.min.y <= b.max.y && a.max.y >= b.min.y
+                && a.min.z <= b.max.z && a.max.z >= b.min.z;
+        }
+
+        std::size_t build(std::span<const AabbType> aabbs, std::size_t begin, std::size_t end)
+        {
+            const auto node_idx = m_nodes.size();
+            m_nodes.emplace_back();
+
+            auto& node = m_nodes[node_idx];
+            node.bounds = compute_bounds(aabbs, begin, end);
+
+            const auto count = end - begin;
+
+            if (count <= k_leaf_threshold)
+            {
+                node.first_index = begin;
+                node.index_count = count;
+                return node_idx;
+            }
+
+            // Find best SAH split
+            const auto centroid_bounds = compute_centroid_bounds(aabbs, begin, end);
+            const auto split = find_best_split(aabbs, begin, end, node.bounds, centroid_bounds);
+
+            // If SAH says don't split, make a leaf
+            if (!split.has_value())
+            {
+                node.first_index = begin;
+                node.index_count = count;
+                return node_idx;
+            }
+
+            const auto [axis, split_pos] = split.value();
+
+            // Partition indices around the split
+            const auto mid = partition_indices(aabbs, begin, end, axis, split_pos);
+
+            // Degenerate partition fallback: split in the middle
+            const auto actual_mid = (mid == begin || mid == end) ? begin + count / 2 : mid;
+
+            // Build children — careful: m_nodes may reallocate, so don't hold references across build calls
+            const auto left_idx = build(aabbs, begin, actual_mid);
+            const auto right_idx = build(aabbs, actual_mid, end);
+
+            m_nodes[node_idx].left = left_idx;
+            m_nodes[node_idx].right = right_idx;
+            m_nodes[node_idx].index_count = 0;
+
+            return node_idx;
+        }
+
+        [[nodiscard]]
+        AabbType compute_bounds(std::span<const AabbType> aabbs, std::size_t begin, std::size_t end) const
+        {
+            AabbType bounds = {
+                {std::numeric_limits<Type>::max(), std::numeric_limits<Type>::max(),
+                 std::numeric_limits<Type>::max()},
+                {std::numeric_limits<Type>::lowest(), std::numeric_limits<Type>::lowest(),
+                 std::numeric_limits<Type>::lowest()}
+            };
+
+            for (auto i = begin; i < end; ++i)
+                bounds = merge(bounds, aabbs[m_indices[i]]);
+
+            return bounds;
+        }
+
+        [[nodiscard]]
+        AabbType compute_centroid_bounds(std::span<const AabbType> aabbs, std::size_t begin, std::size_t end) const
+        {
+            AabbType bounds = {
+                {std::numeric_limits<Type>::max(), std::numeric_limits<Type>::max(),
+                 std::numeric_limits<Type>::max()},
+                {std::numeric_limits<Type>::lowest(), std::numeric_limits<Type>::lowest(),
+                 std::numeric_limits<Type>::lowest()}
+            };
+
+            for (auto i = begin; i < end; ++i)
+            {
+                const auto c = aabbs[m_indices[i]].center();
+                bounds.min.x = std::min(bounds.min.x, c.x);
+                bounds.min.y = std::min(bounds.min.y, c.y);
+                bounds.min.z = std::min(bounds.min.z, c.z);
+                bounds.max.x = std::max(bounds.max.x, c.x);
+                bounds.max.y = std::max(bounds.max.y, c.y);
+                bounds.max.z = std::max(bounds.max.z, c.z);
+            }
+
+            return bounds;
+        }
+
+        struct SplitResult
+        {
+            int axis;
+            Type position;
+        };
+
+        [[nodiscard]]
+        std::optional<SplitResult> find_best_split(std::span<const AabbType> aabbs, std::size_t begin,
+                                                   std::size_t end, const AabbType& node_bounds,
+                                                   const AabbType& centroid_bounds) const
+        {
+            const auto count = end - begin;
+            const auto leaf_cost = static_cast<Type>(count);
+            auto best_cost = leaf_cost;
+            std::optional<SplitResult> best_split;
+
+            for (int axis = 0; axis < 3; ++axis)
+            {
+                const auto axis_min = get_component(centroid_bounds.min, axis);
+                const auto axis_max = get_component(centroid_bounds.max, axis);
+
+                if (axis_max - axis_min < std::numeric_limits<Type>::epsilon())
+                    continue;
+
+                SahBucket buckets[k_sah_bucket_count] = {};
+
+                const auto inv_extent = static_cast<Type>(k_sah_bucket_count) / (axis_max - axis_min);
+
+                // Fill buckets
+                for (auto i = begin; i < end; ++i)
+                {
+                    const auto centroid = get_component(aabbs[m_indices[i]].center(), axis);
+                    auto bucket_idx = static_cast<std::size_t>((centroid - axis_min) * inv_extent);
+                    bucket_idx = std::min(bucket_idx, k_sah_bucket_count - 1);
+
+                    buckets[bucket_idx].count++;
+                    if (buckets[bucket_idx].count == 1)
+                        buckets[bucket_idx].bounds = aabbs[m_indices[i]];
+                    else
+                        buckets[bucket_idx].bounds = merge(buckets[bucket_idx].bounds, aabbs[m_indices[i]]);
+                }
+
+                // Evaluate split costs using prefix/suffix sweeps
+                AabbType prefix_bounds[k_sah_bucket_count - 1];
+                std::size_t prefix_count[k_sah_bucket_count - 1];
+
+                prefix_bounds[0] = buckets[0].bounds;
+                prefix_count[0] = buckets[0].count;
+                for (std::size_t i = 1; i < k_sah_bucket_count - 1; ++i)
+                {
+                    prefix_bounds[i] = (buckets[i].count > 0)
+                                           ? merge(prefix_bounds[i - 1], buckets[i].bounds)
+                                           : prefix_bounds[i - 1];
+                    prefix_count[i] = prefix_count[i - 1] + buckets[i].count;
+                }
+
+                AabbType suffix_bounds = buckets[k_sah_bucket_count - 1].bounds;
+                std::size_t suffix_count = buckets[k_sah_bucket_count - 1].count;
+
+                const auto parent_area = surface_area(node_bounds);
+                const auto inv_parent_area = static_cast<Type>(1) / parent_area;
+
+                for (auto i = static_cast<int>(k_sah_bucket_count) - 2; i >= 0; --i)
+                {
+                    const auto left_count = prefix_count[i];
+                    const auto right_count = suffix_count;
+
+                    if (left_count == 0 || right_count == 0)
+                    {
+                        if (i > 0)
+                        {
+                            suffix_bounds = (buckets[i].count > 0)
+                                                ? merge(suffix_bounds, buckets[i].bounds)
+                                                : suffix_bounds;
+                            suffix_count += buckets[i].count;
+                        }
+                        continue;
+                    }
+
+                    const auto cost = static_cast<Type>(1)
+                                      + (static_cast<Type>(left_count) * surface_area(prefix_bounds[i])
+                                         + static_cast<Type>(right_count) * surface_area(suffix_bounds))
+                                            * inv_parent_area;
+
+                    if (cost < best_cost)
+                    {
+                        best_cost = cost;
+                        best_split = SplitResult{
+                            axis,
+                            axis_min + static_cast<Type>(i + 1) * (axis_max - axis_min)
+                                           / static_cast<Type>(k_sah_bucket_count)
+                        };
+                    }
+
+                    suffix_bounds = (buckets[i].count > 0)
+                                        ? merge(suffix_bounds, buckets[i].bounds)
+                                        : suffix_bounds;
+                    suffix_count += buckets[i].count;
+                }
+            }
+
+            return best_split;
+        }
+
+        std::size_t partition_indices(std::span<const AabbType> aabbs, std::size_t begin, std::size_t end,
+                                      int axis, Type split_pos)
+        {
+            auto it = std::partition(m_indices.begin() + static_cast<std::ptrdiff_t>(begin),
+                                     m_indices.begin() + static_cast<std::ptrdiff_t>(end),
+                                     [&](std::size_t idx)
+                                     { return get_component(aabbs[idx].center(), axis) < split_pos; });
+
+            return static_cast<std::size_t>(std::distance(m_indices.begin(), it));
+        }
+
+        [[nodiscard]]
+        static constexpr Type get_component(const Vector3<Type>& v, int axis) noexcept
+        {
+            switch (axis)
+            {
+            case 0:
+                return v.x;
+            case 1:
+                return v.y;
+            default:
+                return v.z;
+            }
+        }
+
+        void query_overlaps_impl(std::size_t node_idx, const AabbType& query_aabb,
+                                 std::vector<std::size_t>& results) const
+        {
+            const auto& node = m_nodes[node_idx];
+
+            if (!overlaps(node.bounds, query_aabb))
+                return;
+
+            if (node.is_leaf())
+            {
+                for (auto i = node.first_index; i < node.first_index + node.index_count; ++i)
+                    if (overlaps(query_aabb, m_aabbs[m_indices[i]]))
+                        results.push_back(m_indices[i]);
+                return;
+            }
+
+            query_overlaps_impl(node.left, query_aabb, results);
+            query_overlaps_impl(node.right, query_aabb, results);
+        }
+
+        template<class RayType>
+        void query_ray_impl(std::size_t node_idx, const RayType& ray,
+                            std::vector<HitResult>& results) const
+        {
+            const auto& node = m_nodes[node_idx];
+
+            // Quick AABB-ray rejection using the slab method
+            const auto hit = LineTracer<RayType>::get_ray_hit_point(ray, node.bounds);
+            if (hit == ray.end)
+                return;
+
+            if (node.is_leaf())
+            {
+                for (auto i = node.first_index; i < node.first_index + node.index_count; ++i)
+                {
+                    const auto leaf_hit = LineTracer<RayType>::get_ray_hit_point(
+                        ray, m_aabbs[m_indices[i]]);
+                    if (leaf_hit != ray.end)
+                    {
+                        const auto diff = leaf_hit - ray.start;
+                        results.push_back({m_indices[i], diff.dot(diff)});
+                    }
+                }
+                return;
+            }
+
+            query_ray_impl(node.left, ray, results);
+            query_ray_impl(node.right, ray, results);
+        }
+
+        std::vector<Node> m_nodes;
+        std::vector<std::size_t> m_indices;
+        std::vector<AabbType> m_aabbs;
+    };
+} // namespace omath::collision

include/omath/collision/epa_algorithm.hpp

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

include/omath/collision/line_tracer.hpp

@@ -4,7 +4,6 @@
 #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"
 
@@ -37,7 +36,6 @@ 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;
@@ -139,61 +137,6 @@ 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, NDCDepthRange::ZERO_TO_ONE>;
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, 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<3, 3, float, MatStoreType::ROW_MAJOR>;
+    using Mat3X3 = Mat<4, 4, 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

@@ -21,18 +21,9 @@ 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::ZERO_TO_ONE) noexcept;
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

include/omath/engines/cry_engine/traits/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<float>& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& 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<float>& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& 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<float>& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& 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, NDCDepthRange::ZERO_TO_ONE>;
-} // namespace omath::frostbite_engine
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
+} // namespace omath::unity_engine

include/omath/engines/frostbite_engine/formulas.hpp

@@ -21,15 +21,6 @@ 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<float>& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& 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<float>& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& 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<float>& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& 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, NDCDepthRange::ZERO_TO_ONE>;
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
 } // namespace omath::iw_engine

include/omath/engines/iw_engine/formulas.hpp

@@ -19,15 +19,6 @@ 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<float>& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& 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<float>& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& 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<float>& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& 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, NDCDepthRange::NEGATIVE_ONE_TO_ONE, {.inverted_forward = true}>;
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, true, NDCDepthRange::NEGATIVE_ONE_TO_ONE>;
 } // namespace omath::opengl_engine

include/omath/engines/opengl_engine/formulas.hpp

@@ -20,15 +20,6 @@ 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<float>& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& 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<float>& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& 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<float>& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {

include/omath/engines/rage_engine/camera.hpp

@@ -1,13 +0,0 @@
-//
-// Created by Orange on 6/3/2026.
-//
-
-#pragma once
-#include "omath/engines/rage_engine/constants.hpp"
-#include "omath/projection/camera.hpp"
-#include "traits/camera_trait.hpp"
-
-namespace omath::rage_engine
-{
-    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::ZERO_TO_ONE>;
-} // namespace omath::rage_engine

include/omath/engines/rage_engine/constants.hpp

@@ -1,25 +0,0 @@
-//
-// Created by Orange on 6/3/2026.
-//
-
-#pragma once
-#include "omath/linear_algebra/mat.hpp"
-#include "omath/linear_algebra/vector3.hpp"
-#include <omath/trigonometry/angle.hpp>
-#include <omath/trigonometry/view_angles.hpp>
-
-namespace omath::rage_engine
-{
-    constexpr Vector3<float> k_abs_up = {0, 0, 1};
-    constexpr Vector3<float> k_abs_right = {1, 0, 0};
-    constexpr Vector3<float> k_abs_forward = {0, 1, 0};
-
-    using Mat4X4 = 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>;
-    using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
-
-    using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
-} // namespace omath::rage_engine

include/omath/engines/rage_engine/formulas.hpp

@@ -1,85 +0,0 @@
-//
-// Created by Orange on 6/3/2026.
-//
-
-#pragma once
-#include "omath/engines/rage_engine/constants.hpp"
-#include <type_traits>
-
-namespace omath::rage_engine
-{
-    [[nodiscard]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
-
-    [[nodiscard]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
-
-    [[nodiscard]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
-
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
-
-    [[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::ZERO_TO_ONE) noexcept;
-
-    template<class FloatingType>
-    requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
-    constexpr FloatingType units_to_centimeters(const FloatingType& units)
-    {
-        return units / static_cast<FloatingType>(100);
-    }
-
-    template<class FloatingType>
-    requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
-    constexpr FloatingType units_to_meters(const FloatingType& units)
-    {
-        return units;
-    }
-
-    template<class FloatingType>
-    requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
-    constexpr FloatingType units_to_kilometers(const FloatingType& units)
-    {
-        return units_to_meters(units) / static_cast<FloatingType>(1000);
-    }
-
-    template<class FloatingType>
-    requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
-    constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
-    {
-        return centimeters * static_cast<FloatingType>(100);
-    }
-
-    template<class FloatingType>
-    requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
-    constexpr FloatingType meters_to_units(const FloatingType& meters)
-    {
-        return meters;
-    }
-
-    template<class FloatingType>
-    requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
-    constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
-    {
-        return meters_to_units(kilometers * static_cast<FloatingType>(1000));
-    }
-} // namespace omath::rage_engine

include/omath/engines/rage_engine/mesh.hpp

@@ -1,13 +0,0 @@
-//
-// Created by Orange on 6/3/2026.
-//
-
-#pragma once
-#include "constants.hpp"
-#include "omath/3d_primitives/mesh.hpp"
-#include "traits/mesh_trait.hpp"
-
-namespace omath::rage_engine
-{
-    using Mesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait>;
-} // namespace omath::rage_engine

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

@@ -1,24 +0,0 @@
-//
-// Created by Orange on 6/3/2026.
-//
-
-#pragma once
-#include "omath/engines/rage_engine/formulas.hpp"
-#include "omath/projection/camera.hpp"
-
-namespace omath::rage_engine
-{
-    class CameraTrait final
-    {
-    public:
-        [[nodiscard]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
-
-        [[nodiscard]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
-        [[nodiscard]]
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
-    };
-
-} // namespace omath::rage_engine

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

@@ -1,20 +0,0 @@
-//
-// Created by Orange on 6/3/2026.
-//
-
-#pragma once
-#include <omath/engines/rage_engine/constants.hpp>
-#include <omath/engines/rage_engine/formulas.hpp>
-
-namespace omath::rage_engine
-{
-    class MeshTrait final
-    {
-    public:
-        [[nodiscard]]
-        static Mat4X4 rotation_matrix(const ViewAngles& rotation)
-        {
-            return rage_engine::rotation_matrix(rotation);
-        }
-    };
-} // namespace omath::rage_engine

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

@@ -1,76 +0,0 @@
-//
-// Created by Orange on 6/3/2026.
-//
-
-#pragma once
-#include "omath/engines/rage_engine/formulas.hpp"
-#include "omath/projectile_prediction/projectile.hpp"
-#include "omath/projectile_prediction/target.hpp"
-#include <optional>
-
-namespace omath::rage_engine
-{
-    class PredEngineTrait final
-    {
-    public:
-        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
-        {
-            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
-            auto current_pos = launch_pos
-                               + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
-                                                 RollAngle::from_degrees(0)})
-                                         * projectile.m_launch_speed * time;
-            current_pos.z -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
-
-            return current_pos;
-        }
-        [[nodiscard]]
-        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;
-
-            if (target.m_is_airborne)
-                predicted.z -= gravity * (time * time) * 0.5f;
-
-            return predicted;
-        }
-        [[nodiscard]]
-        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
-        {
-            return std::sqrt(delta.x * delta.x + delta.y * delta.y);
-        }
-
-        [[nodiscard]]
-        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
-        {
-            return vec.z;
-        }
-
-        [[nodiscard]]
-        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
-        {
-            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};
-        }
-        [[nodiscard]]
-        static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& 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
-        {
-            const auto direction = (view_to - origin).normalized();
-
-            return angles::radians_to_degrees(-std::atan2(direction.x, direction.y));
-        };
-    };
-} // namespace omath::rage_engine

include/omath/engines/source_engine/camera.hpp

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

include/omath/engines/source_engine/formulas.hpp

@@ -12,15 +12,6 @@ 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<float>& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& 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<float>& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& 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<float>& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& 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, NDCDepthRange::ZERO_TO_ONE, {.inverted_forward = true}>;
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
 } // namespace omath::unity_engine

include/omath/engines/unity_engine/formulas.hpp

@@ -21,15 +21,6 @@ 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<float>& projectile,
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& 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<float>& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& 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<float>& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& 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, NDCDepthRange::ZERO_TO_ONE, {}, double>;
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
 } // namespace omath::unreal_engine

include/omath/engines/unreal_engine/constants.hpp

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

include/omath/engines/unreal_engine/formulas.hpp

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

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

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

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

@@ -1,214 +0,0 @@
-#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

@@ -15,15 +15,14 @@ namespace omath::hud
     class EntityOverlay final
     {
     public:
-        EntityOverlay(const Vector2<float>& top, const Vector2<float>& bottom, float aspect,
+        EntityOverlay(const Vector2<float>& top, const Vector2<float>& bottom,
                       const std::shared_ptr<HudRendererInterface>& renderer);
 
         // ── Boxes ────────────────────────────────────────────────────────
         EntityOverlay& add_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 thickness = 1.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,
@@ -57,22 +56,22 @@ namespace omath::hud
                                              float offset = 5.f);
 
         // ── Labels ───────────────────────────────────────────────────────
-        EntityOverlay& add_right_label(const Color& color, float offset, widget::Outlined outlined, const std::string_view& text);
+        EntityOverlay& add_right_label(const Color& color, float offset, bool outlined, const std::string_view& text);
 
-        EntityOverlay& add_left_label(const Color& color, float offset, widget::Outlined outlined, const std::string_view& text);
+        EntityOverlay& add_left_label(const Color& color, float offset, bool outlined, const std::string_view& text);
 
-        EntityOverlay& add_top_label(const Color& color, float offset, widget::Outlined outlined, std::string_view text);
+        EntityOverlay& add_top_label(const Color& color, float offset, bool outlined, std::string_view text);
 
-        EntityOverlay& add_bottom_label(const Color& color, float offset, widget::Outlined outlined, std::string_view text);
+        EntityOverlay& add_bottom_label(const Color& color, float offset, bool outlined, std::string_view text);
 
-        EntityOverlay& add_centered_top_label(const Color& color, float offset, widget::Outlined outlined,
+        EntityOverlay& add_centered_top_label(const Color& color, float offset, bool outlined,
                                               const std::string_view& text);
 
-        EntityOverlay& add_centered_bottom_label(const Color& color, float offset, widget::Outlined outlined,
+        EntityOverlay& add_centered_bottom_label(const Color& color, float offset, bool outlined,
                                                  const std::string_view& text);
 
         template<typename... Args>
-        EntityOverlay& add_right_label(const Color& color, const float offset, const widget::Outlined outlined, std::format_string<Args...> fmt,
+        EntityOverlay& add_right_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
                                        Args&&... args)
         {
             return add_right_label(color, offset, outlined,
@@ -80,7 +79,7 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_left_label(const Color& color, const float offset, const widget::Outlined outlined, std::format_string<Args...> fmt,
+        EntityOverlay& add_left_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
                                       Args&&... args)
         {
             return add_left_label(color, offset, outlined,
@@ -88,7 +87,7 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_top_label(const Color& color, const float offset, const widget::Outlined outlined, std::format_string<Args...> fmt,
+        EntityOverlay& add_top_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
                                      Args&&... args)
         {
             return add_top_label(color, offset, outlined,
@@ -96,7 +95,7 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_bottom_label(const Color& color, const float offset, const widget::Outlined outlined,
+        EntityOverlay& add_bottom_label(const Color& color, const float offset, const bool outlined,
                                         std::format_string<Args...> fmt, Args&&... args)
         {
             return add_bottom_label(color, offset, outlined,
@@ -104,7 +103,7 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_centered_top_label(const Color& color, const float offset, const widget::Outlined outlined,
+        EntityOverlay& add_centered_top_label(const Color& color, const float offset, const bool outlined,
                                               std::format_string<Args...> fmt, Args&&... args)
         {
             return add_centered_top_label(color, offset, outlined,
@@ -112,7 +111,7 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_centered_bottom_label(const Color& color, const float offset, const widget::Outlined outlined,
+        EntityOverlay& add_centered_bottom_label(const Color& color, const float offset, const bool outlined,
                                                  std::format_string<Args...> fmt, Args&&... args)
         {
             return add_centered_bottom_label(color, offset, outlined,

include/omath/hud/entity_overlay_widgets.hpp

@@ -26,20 +26,13 @@ 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;
     };
 
-    enum class Outlined
-    {
-        Off,
-        On,
-    };
     struct CorneredBox
     {
         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;
     };
@@ -123,7 +116,7 @@ namespace omath::hud::widget
     {
         Color color;
         float offset;
-        Outlined outlined;
+        bool outlined;
         std::string_view text;
     };
 

include/omath/hud/renderer_realizations/imgui_renderer.hpp

@@ -27,7 +27,7 @@ namespace omath::hud
                        const Color& tint = Color{1.f, 1.f, 1.f, 1.f}) override;
         void add_text(const Vector2<float>& position, const Color& color, const std::string_view& text) override;
         [[nodiscard]]
-        Vector2<float> calc_text_size(const std::string_view& text) override;
+        virtual Vector2<float> calc_text_size(const std::string_view& text) override;
     };
 } // namespace omath::hud
 #endif // OMATH_IMGUI_INTEGRATION

include/omath/linear_algebra/mat.hpp

@@ -5,7 +5,6 @@
 #include "vector3.hpp"
 #include <algorithm>
 #include <array>
-#include <cmath>
 #include <iomanip>
 #include <numeric>
 #include <sstream>
@@ -59,7 +58,7 @@ namespace omath
             clear();
         }
 
-        [[nodiscard("You must use store ordering")]]
+        [[nodiscard]]
         consteval static MatStoreType get_store_ordering() noexcept
         {
             return StoreType;
@@ -94,13 +93,13 @@ namespace omath
             m_data = other.m_data;
         }
 
-        [[nodiscard("You must use element reference")]]
+        [[nodiscard]]
         constexpr Type& operator[](const size_t row, const size_t col)
         {
             return at(row, col);
         }
 
-        [[nodiscard("You must use element reference")]]
+        [[nodiscard]]
         constexpr const Type& operator[](const size_t row, const size_t col) const
         {
             return at(row, col);
@@ -111,25 +110,25 @@ namespace omath
             m_data = std::move(other.m_data);
         }
 
-        [[nodiscard("You must use row count")]]
+        [[nodiscard]]
         static constexpr size_t row_count() noexcept
         {
             return Rows;
         }
 
-        [[nodiscard("You must use column count")]]
+        [[nodiscard]]
         static constexpr size_t columns_count() noexcept
         {
             return Columns;
         }
 
-        [[nodiscard("You must use matrix size")]]
-        static constexpr MatSize size() noexcept
+        [[nodiscard]]
+        static consteval MatSize size() noexcept
         {
             return {Rows, Columns};
         }
 
-        [[nodiscard("You must use element reference")]]
+        [[nodiscard]]
         constexpr const Type& at(const size_t row_index, const size_t column_index) const
         {
 #if !defined(NDEBUG) && defined(OMATH_SUPRESS_SAFETY_CHECKS)
@@ -149,12 +148,12 @@ namespace omath
             }
         }
 
-        [[nodiscard("You must use element reference")]] constexpr Type& at(const size_t row_index, const size_t column_index)
+        [[nodiscard]] 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("You must use sum of elements")]]
+        [[nodiscard]]
         constexpr Type sum() const noexcept
         {
             return std::accumulate(m_data.begin(), m_data.end(), static_cast<Type>(0));
@@ -171,7 +170,7 @@ namespace omath
         }
 
         // Operator overloading for multiplication with another Mat
-        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
+        template<size_t OtherColumns> [[nodiscard]]
         constexpr Mat<Rows, OtherColumns, Type, StoreType>
         operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
         {
@@ -202,7 +201,7 @@ namespace omath
             return *this = *this * other;
         }
 
-        [[nodiscard("You must use result matrix")]]
+        [[nodiscard]]
         constexpr Mat operator*(const Type& value) const noexcept
         {
             Mat result(*this);
@@ -216,7 +215,7 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard("You must use result matrix")]]
+        [[nodiscard]]
         constexpr Mat operator/(const Type& value) const noexcept
         {
             Mat result(*this);
@@ -240,7 +239,7 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard("You must use transposed matrix")]]
+        [[nodiscard]]
         constexpr Mat<Columns, Rows, Type, StoreType> transposed() const noexcept
         {
             Mat<Columns, Rows, Type, StoreType> transposed;
@@ -251,7 +250,7 @@ namespace omath
             return transposed;
         }
 
-        [[nodiscard("You must use determinant")]]
+        [[nodiscard]]
         constexpr Type determinant() const
         {
             static_assert(Rows == Columns, "Determinant is only defined for square matrices.");
@@ -272,11 +271,10 @@ namespace omath
                 }
                 return det;
             }
-            else // For no reason MSVC triggers on it as unreachable code so we keep else here.
-                std::unreachable();
+            std::unreachable();
         }
 
-        [[nodiscard("You must use stripped matrix")]]
+        [[nodiscard]]
         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);
@@ -297,32 +295,32 @@ namespace omath
             return result;
         }
 
-        [[nodiscard("You must use minor")]]
+        [[nodiscard]]
         constexpr Type minor(const size_t row, const size_t column) const
         {
             return strip(row, column).determinant();
         }
 
-        [[nodiscard("You must use algebraic complement")]]
+        [[nodiscard]]
         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("You must use raw array")]]
+        [[nodiscard]]
         constexpr const std::array<Type, Rows * Columns>& raw_array() const
         {
             return m_data;
         }
 
-        [[nodiscard("You must use raw array")]]
+        [[nodiscard]]
         constexpr std::array<Type, Rows * Columns>& raw_array()
         {
             return m_data;
         }
 
-        [[nodiscard("You must use string representation")]]
+        [[nodiscard]]
         std::string to_string() const noexcept
         {
             std::ostringstream oss;
@@ -344,14 +342,14 @@ namespace omath
             return oss.str();
         }
 
-        [[nodiscard("You must use wide string representation")]]
+        [[nodiscard]]
         std::wstring to_wstring() const noexcept
         {
             const auto ascii_string = to_string();
             return {ascii_string.cbegin(), ascii_string.cend()};
         }
 
-        [[nodiscard("You must use UTF-8 string representation")]]
+        [[nodiscard]]
         // ReSharper disable once CppInconsistentNaming
         std::u8string to_u8string() const noexcept
         {
@@ -359,20 +357,20 @@ namespace omath
             return {ascii_string.cbegin(), ascii_string.cend()};
         }
 
-        [[nodiscard("You must use comparison result")]]
+        [[nodiscard]]
         bool operator==(const Mat& mat) const
         {
             return m_data == mat.m_data;
         }
 
-        [[nodiscard("You must use comparison result")]]
+        [[nodiscard]]
         bool operator!=(const Mat& mat) const
         {
             return !operator==(mat);
         }
 
         // Static methods that return fixed-size matrices
-        [[nodiscard("You must use screen matrix")]]
+        [[nodiscard]]
         constexpr static Mat<4, 4> to_screen_mat(const Type& screen_width, const Type& screen_height) noexcept
         {
             return {
@@ -383,7 +381,7 @@ namespace omath
             };
         }
 
-        [[nodiscard("You must use inverted matrix")]]
+        [[nodiscard]]
         constexpr std::optional<Mat> inverted() const
         {
             const auto det = determinant();
@@ -406,7 +404,7 @@ namespace omath
     private:
         std::array<Type, Rows * Columns> m_data;
 
-        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
+        template<size_t OtherColumns> [[nodiscard]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
         cache_friendly_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
         {
@@ -421,7 +419,7 @@ namespace omath
             return result;
         }
 
-        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
+        template<size_t OtherColumns> [[nodiscard]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> cache_friendly_multiply_col_major(
                 const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
         {
@@ -436,7 +434,7 @@ namespace omath
             return result;
         }
 #ifdef OMATH_USE_AVX2
-        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
+        template<size_t OtherColumns> [[nodiscard]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>
         avx_multiply_col_major(const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
         {
@@ -506,7 +504,7 @@ namespace omath
             return result;
         }
 
-        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
+        template<size_t OtherColumns> [[nodiscard]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
         avx_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
         {
@@ -577,20 +575,20 @@ namespace omath
 #endif
     };
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard("You must use row matrix")]]
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
     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("You must use column matrix")]]
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
     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("You must use translation matrix")]]
+    [[nodiscard]]
     constexpr Mat<4, 4, Type, St> mat_translation(const Vector3<Type>& diff) noexcept
     {
         return
@@ -602,7 +600,7 @@ namespace omath
         };
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard("You must use scale matrix")]]
+    [[nodiscard]]
     constexpr Mat<4, 4, Type, St> mat_scale(const Vector3<Type>& scale) noexcept
     {
         return {
@@ -613,55 +611,8 @@ 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("You must use rotation matrix")]]
+    [[nodiscard]]
     Mat<4, 4, Type, St> mat_rotation_axis_x(const Angle& angle) noexcept
     {
         return
@@ -674,7 +625,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard("You must use rotation matrix")]]
+    [[nodiscard]]
     Mat<4, 4, Type, St> mat_rotation_axis_y(const Angle& angle) noexcept
     {
         return
@@ -687,7 +638,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard("You must use rotation matrix")]]
+    [[nodiscard]]
     Mat<4, 4, Type, St> mat_rotation_axis_z(const Angle& angle) noexcept
     {
         return
@@ -700,7 +651,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard("You must use camera view matrix")]]
+    [[nodiscard]]
     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
     {
@@ -715,103 +666,50 @@ namespace omath
 
     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_vertical_fov(const Type field_of_view, const Type aspect_ratio,
-                                                    const Type near, const Type far) noexcept
+    [[nodiscard]]
+    Mat<4, 4, Type, St> mat_perspective_left_handed(const float field_of_view, const float aspect_ratio,
+                                                    const float near, const float far) noexcept
     {
-        const auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
+        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
 
         if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
-            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0},                Type{0},             Type{0}},
-                    {Type{0},                                 Type{1} / fov_half_tan, Type{0},             Type{0}},
-                    {Type{0},                                 Type{0},                far / (far - near), -(near * far) / (far - near)},
-                    {Type{0},                                 Type{0},                Type{1},            Type{0}}};
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, far / (far - near), -(near * far) / (far - near)},
+                    {0.f, 0.f, 1.f, 0.f}};
         else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0},                Type{0},                      Type{0}},
-                    {Type{0},                                 Type{1} / fov_half_tan, 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}}};
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                    {0.f, 0.f, 1.f, 0.f}};
         else
             std::unreachable();
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard("You must use perspective matrix")]]
-    Mat<4, 4, Type, St> mat_perspective_right_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio,
-                                                     const Type near, const Type far) noexcept
+    [[nodiscard]]
+    Mat<4, 4, Type, St> mat_perspective_right_handed(const float field_of_view, const float aspect_ratio,
+                                                     const float near, const float far) noexcept
     {
-        const auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
+        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
 
         if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
-            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0},                Type{0},             Type{0}},
-                    {Type{0},                                 Type{1} / fov_half_tan, Type{0},             Type{0}},
-                    {Type{0},                                 Type{0},                -far / (far - near), -(near * far) / (far - near)},
-                    {Type{0},                                 Type{0},                -Type{1},            Type{0}}};
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, -far / (far - near), -(near * far) / (far - near)},
+                    {0.f, 0.f, -1.f, 0.f}};
         else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0},                Type{0},                      Type{0}},
-                    {Type{0},                                 Type{1} / fov_half_tan, 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();
-    }
-
-    // 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}}};
+            return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+                    {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                    {0.f, 0.f, -1.f, 0.f}};
         else
             std::unreachable();
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard("You must use ortho matrix")]]
+    [[nodiscard]]
     Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
                                               const Type near, const Type far) noexcept
     {
@@ -836,7 +734,7 @@ namespace omath
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard("You must use ortho matrix")]]
+    [[nodiscard]]
     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
     {
@@ -883,14 +781,14 @@ 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("You must use parse iterator")]]
+    [[nodiscard]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
 
     template<class FormatContext>
-    [[nodiscard("You must use format iterator")]]
+    [[nodiscard]]
     static auto format(const MatType& mat, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
@@ -902,4 +800,4 @@ struct std::formatter<omath::Mat<Rows, Columns, Type, StoreType>> // NOLINT(*-dc
         if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
             return std::format_to(ctx.out(), u8"{}", mat.to_u8string());
     }
-};
+};

include/omath/linear_algebra/vector2.hpp

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

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

@@ -21,22 +21,13 @@ namespace omath
         }
         constexpr Vector4() noexcept: Vector3<Type>(), w(static_cast<Type>(0)) {};
 
-
-        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")]]
+        [[nodiscard]]
         constexpr bool operator==(const Vector4& other) const noexcept
         {
             return Vector3<Type>::operator==(other) && w == other.w;
         }
 
-        [[nodiscard("You must use comparison result")]]
+        [[nodiscard]]
         constexpr bool operator!=(const Vector4& other) const noexcept
         {
             return !(*this == other);
@@ -89,19 +80,17 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard("You must use squared length")]]
-        constexpr Type length_sqr() const noexcept
+        [[nodiscard]] constexpr Type length_sqr() const noexcept
         {
             return Vector3<Type>::length_sqr() + w * w;
         }
 
-        [[nodiscard("You must use dot product")]]
-        constexpr Type dot(const Vector4& other) const noexcept
+        [[nodiscard]] constexpr Type dot(const Vector4& other) const noexcept
         {
             return Vector3<Type>::dot(other) + w * other.w;
         }
 
-        [[nodiscard("You must use length")]] Type length() const noexcept
+        [[nodiscard]] Type length() const noexcept
         {
             return std::sqrt(length_sqr());
         }
@@ -113,11 +102,6 @@ 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);
@@ -127,86 +111,86 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard("You must use negated vector")]]
+        [[nodiscard]]
         constexpr Vector4 operator-() const noexcept
         {
             return {-this->x, -this->y, -this->z, -w};
         }
 
-        [[nodiscard("You must use result vector")]]
+        [[nodiscard]]
         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("You must use result vector")]]
+        [[nodiscard]]
         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("You must use result vector")]]
+        [[nodiscard]]
         constexpr Vector4 operator*(const Type& value) const noexcept
         {
             return {this->x * value, this->y * value, this->z * value, w * value};
         }
 
-        [[nodiscard("You must use result vector")]]
+        [[nodiscard]]
         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("You must use result vector")]]
+        [[nodiscard]]
         constexpr Vector4 operator/(const Type& value) const noexcept
         {
             return {this->x / value, this->y / value, this->z / value, w / value};
         }
 
-        [[nodiscard("You must use result vector")]]
+        [[nodiscard]]
         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("You must use sum of elements")]]
+        [[nodiscard]]
         constexpr Type sum() const noexcept
         {
             return Vector3<Type>::sum() + w;
         }
 
-        [[nodiscard("You must use comparison result")]]
+        [[nodiscard]]
         bool operator<(const Vector4& other) const noexcept
         {
             return length() < other.length();
         }
 
-        [[nodiscard("You must use comparison result")]]
+        [[nodiscard]]
         bool operator>(const Vector4& other) const noexcept
         {
             return length() > other.length();
         }
 
-        [[nodiscard("You must use comparison result")]]
+        [[nodiscard]]
         bool operator<=(const Vector4& other) const noexcept
         {
             return length() <= other.length();
         }
 
-        [[nodiscard("You must use comparison result")]]
+        [[nodiscard]]
         bool operator>=(const Vector4& other) const noexcept
         {
             return length() >= other.length();
         }
 
-        [[nodiscard("You must use array")]]
+        [[nodiscard]]
         constexpr std::array<Type, 4> as_array() const noexcept
         {
             return {this->x, this->y, this->z, w};
         }
 
 #ifdef OMATH_IMGUI_INTEGRATION
-        [[nodiscard("You must use ImVec4")]]
+        [[nodiscard]]
         constexpr ImVec4 to_im_vec4() const noexcept
         {
             return {
@@ -216,7 +200,7 @@ namespace omath
                     static_cast<float>(w),
             };
         }
-        [[nodiscard("You must use vector from ImVec4")]]
+        [[nodiscard]]
         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)};
@@ -227,7 +211,7 @@ namespace omath
 
 template<> struct std::hash<omath::Vector4<float>>
 {
-    [[nodiscard("You must use hash value")]]
+    [[nodiscard]]
     std::size_t operator()(const omath::Vector4<float>& vec) const noexcept
     {
         std::size_t hash = 0;
@@ -244,13 +228,13 @@ template<> struct std::hash<omath::Vector4<float>>
 template<class Type>
 struct std::formatter<omath::Vector4<Type>> // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard("You must use parse iterator")]]
+    [[nodiscard]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
     template<class FormatContext>
-    [[nodiscard("You must use format iterator")]]
+    [[nodiscard]]
     static auto format(const omath::Vector4<Type>& vec, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
@@ -262,4 +246,4 @@ struct std::formatter<omath::Vector4<Type>> // NOLINT(*-dcl58-cpp)
         if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
             return std::format_to(ctx.out(), u8"[{}, {}, {}, {}]", vec.x, vec.y, vec.z, vec.w);
     }
-};
+};

include/omath/lua/lua.hpp

@@ -15,16 +15,11 @@ 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);
     };
 }
-#endif
+#endif

include/omath/omath.hpp

@@ -35,6 +35,7 @@
 #include "omath/collision/line_tracer.hpp"
 #include "omath/collision/gjk_algorithm.hpp"
 #include "omath/collision/epa_algorithm.hpp"
+#include "omath/collision/bvh_tree.hpp"
 // Pathfinding algorithms
 #include "omath/pathfinding/a_star.hpp"
 #include "omath/pathfinding/navigation_mesh.hpp"
@@ -87,12 +88,6 @@
 #include "omath/engines/frostbite_engine/traits/camera_trait.hpp"
 #include "omath/engines/frostbite_engine/traits/pred_engine_trait.hpp"
 
-// RAGE Engine
-#include "omath/engines/rage_engine/constants.hpp"
-#include "omath/engines/rage_engine/formulas.hpp"
-#include "omath/engines/rage_engine/camera.hpp"
-#include "omath/engines/rage_engine/traits/camera_trait.hpp"
-#include "omath/engines/rage_engine/traits/pred_engine_trait.hpp"
 
 // Unreal Engine
 #include "omath/engines/unreal_engine/constants.hpp"
@@ -107,4 +102,4 @@
 
 // Utility
 #include "omath/utility/pattern_scan.hpp"
-#include "omath/utility/pe_pattern_scan.hpp"
+#include "omath/utility/pe_pattern_scan.hpp"

include/omath/pathfinding/walk_bot.hpp

@@ -1,46 +0,0 @@
-//
-// 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

@@ -8,24 +8,22 @@
 
 namespace omath::projectile_prediction
 {
-    template<class ArithmeticType = float>
     struct AimAngles
     {
-        ArithmeticType pitch{};
-        ArithmeticType yaw{};
+        float pitch{};
+        float yaw{};
     };
 
-    template<class ArithmeticType = float>
     class ProjPredEngineInterface
     {
     public:
         [[nodiscard]]
-        virtual std::optional<Vector3<ArithmeticType>> maybe_calculate_aim_point(
-            const Projectile<ArithmeticType>& projectile, const Target<ArithmeticType>& target) const = 0;
+        virtual std::optional<Vector3<float>> maybe_calculate_aim_point(const Projectile& projectile,
+                                                                        const Target& target) const = 0;
 
         [[nodiscard]]
-        virtual std::optional<AimAngles<ArithmeticType>> maybe_calculate_aim_angles(
-            const Projectile<ArithmeticType>& projectile, const Target<ArithmeticType>& target) const = 0;
+        virtual std::optional<AimAngles> maybe_calculate_aim_angles(const Projectile& projectile,
+                                                                     const Target& 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<float>
+    class ProjPredEngineAvx2 final : public ProjPredEngineInterface
     {
     public:
         [[nodiscard]] std::optional<Vector3<float>>
-        maybe_calculate_aim_point(const Projectile<float>& projectile, const Target<float>& target) const override;
+        maybe_calculate_aim_point(const Projectile& projectile, const Target& target) const override;
 
-        [[nodiscard]] std::optional<AimAngles<float>>
-        maybe_calculate_aim_angles(const Projectile<float>& projectile, const Target<float>& target) const override;
+        [[nodiscard]] std::optional<AimAngles>
+        maybe_calculate_aim_angles(const Projectile& projectile, const Target& target) const override;
 
         ProjPredEngineAvx2(float gravity_constant, float simulation_time_step, float maximum_simulation_time);
         ~ProjPredEngineAvx2() override = default;
@@ -21,7 +21,7 @@ namespace omath::projectile_prediction
     private:
         [[nodiscard]] static std::optional<float> calculate_pitch(const Vector3<float>& proj_origin,
                                                                   const Vector3<float>& target_pos,
-                                                                  float bullet_gravity, float v0, float time);
+                                                                  float bullet_gravity, float v0, float time) ;
 
         // We use [[maybe_unused]] here since AVX2 is not available for ARM and ARM64 CPU
         [[maybe_unused]] const float m_gravity_constant;

include/omath/projectile_prediction/proj_pred_engine_legacy.hpp

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

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

include/omath/projectile_prediction/target.hpp

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

include/omath/projection/camera.hpp

@@ -5,7 +5,6 @@
 #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"
@@ -32,7 +31,7 @@ namespace omath::projection
         float m_width;
         float m_height;
 
-        [[nodiscard("You must use aspect ratio")]] constexpr float aspect_ratio() const
+        [[nodiscard]] constexpr float aspect_ratio() const
         {
             return m_width / m_height;
         }
@@ -43,32 +42,25 @@ namespace omath::projection
         AUTO,
         MANUAL,
     };
-    struct CameraAxes
-    {
-        bool inverted_forward = false;
-        bool inverted_right = false;
-    };
-
-    template<class T, class MatType, class ViewAnglesType, class NumericType>
+    template<class T, class MatType, class ViewAnglesType>
     concept CameraEngineConcept =
-            requires(const Vector3<NumericType>& cam_origin, const Vector3<NumericType>& look_at,
-                     const ViewAnglesType& angles, const FieldOfView& fov, const ViewPort& viewport, NumericType z_near,
-                     NumericType z_far, NDCDepthRange ndc_depth_range) {
+            requires(const Vector3<float>& cam_origin, const Vector3<float>& look_at, const ViewAnglesType& angles,
+                     const FieldOfView& fov, const ViewPort& viewport, float znear, float zfar,
+                     NDCDepthRange ndc_depth_range) {
                 // Presence + return types
                 { T::calc_look_at_angle(cam_origin, look_at) } -> std::same_as<ViewAnglesType>;
                 { T::calc_view_matrix(angles, cam_origin) } -> std::same_as<MatType>;
-                { T::calc_projection_matrix(fov, viewport, z_near, z_far, ndc_depth_range) } -> std::same_as<MatType>;
-                requires std::is_floating_point_v<NumericType>;
+                { T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range) } -> std::same_as<MatType>;
+
                 // Enforce noexcept as in the trait declaration
                 requires noexcept(T::calc_look_at_angle(cam_origin, look_at));
                 requires noexcept(T::calc_view_matrix(angles, cam_origin));
-                requires noexcept(T::calc_projection_matrix(fov, viewport, z_near, z_far, ndc_depth_range));
+                requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar, ndc_depth_range));
             };
 
-    template<class Mat4X4Type, class ViewAnglesType, class TraitClass,
-             NDCDepthRange depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE, CameraAxes axes = {},
-             class NumericType = float>
-    requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType, NumericType>
+    template<class Mat4X4Type, class ViewAnglesType, class TraitClass, bool inverted_z = false,
+             NDCDepthRange depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
+    requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType>
     class Camera final
     {
 #ifdef OMATH_BUILD_TESTS
@@ -84,114 +76,50 @@ namespace omath::projection
         };
 
         ~Camera() = default;
-        Camera(const Vector3<NumericType>& position, const ViewAnglesType& view_angles, const ViewPort& view_port,
-               const FieldOfView& fov, const NumericType near, const NumericType far) noexcept
+        Camera(const Vector3<float>& position, const ViewAnglesType& view_angles, const ViewPort& view_port,
+               const FieldOfView& fov, const float near, const float 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)
         {
         }
 
-        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)
+        void look_at(const Vector3<float>& target)
         {
             m_view_angles = TraitClass::calc_look_at_angle(m_origin, target);
             m_view_projection_matrix = std::nullopt;
             m_view_matrix = std::nullopt;
         }
-        [[nodiscard("You must use calculated look-at angles")]]
-        ViewAnglesType calc_look_at_angles(const Vector3<NumericType>& look_to) const
+        [[nodiscard]]
+        ViewAnglesType calc_look_at_angles(const Vector3<float>& look_to) const
         {
             return TraitClass::calc_look_at_angle(m_origin, look_to);
         }
 
-        [[nodiscard("You must use forward vector")]]
-        Vector3<NumericType> get_forward() const noexcept
+        [[nodiscard]]
+        Vector3<float> 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("You must use right vector")]]
-        Vector3<NumericType> get_right() const noexcept
+        [[nodiscard]]
+        Vector3<float> 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("You must use up vector")]]
-        Vector3<NumericType> get_up() const noexcept
+        [[nodiscard]]
+        Vector3<float> 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("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
+        [[nodiscard]] const Mat4X4Type& get_view_projection_matrix() const noexcept
         {
             if (!m_view_projection_matrix.has_value())
                 m_view_projection_matrix = get_projection_matrix() * get_view_matrix();
@@ -199,18 +127,19 @@ namespace omath::projection
             return m_view_projection_matrix.value();
         }
 
-        [[nodiscard("You must use view matrix")]] const Mat4X4Type& get_view_matrix() const noexcept
+        [[nodiscard]] 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("You must use projection matrix")]] const Mat4X4Type& get_projection_matrix() const noexcept
+        [[nodiscard]] 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_near_plane_distance, m_far_plane_distance, depth_range);
+                m_projection_matrix = TraitClass::calc_projection_matrix(m_field_of_view, m_view_port,
+                                                                         m_near_plane_distance, m_far_plane_distance,
+                                                                         depth_range);
 
             return m_projection_matrix.value();
         }
@@ -222,14 +151,14 @@ namespace omath::projection
             m_projection_matrix = std::nullopt;
         }
 
-        void set_near_plane(const NumericType near_plane) noexcept
+        void set_near_plane(const float near_plane) noexcept
         {
             m_near_plane_distance = near_plane;
             m_view_projection_matrix = std::nullopt;
             m_projection_matrix = std::nullopt;
         }
 
-        void set_far_plane(const NumericType far_plane) noexcept
+        void set_far_plane(const float far_plane) noexcept
         {
             m_far_plane_distance = far_plane;
             m_view_projection_matrix = std::nullopt;
@@ -243,7 +172,7 @@ namespace omath::projection
             m_view_matrix = std::nullopt;
         }
 
-        void set_origin(const Vector3<NumericType>& origin) noexcept
+        void set_origin(const Vector3<float>& origin) noexcept
         {
             m_origin = origin;
             m_view_projection_matrix = std::nullopt;
@@ -256,34 +185,34 @@ namespace omath::projection
             m_projection_matrix = std::nullopt;
         }
 
-        [[nodiscard("You must use field of view")]] const FieldOfView& get_field_of_view() const noexcept
+        [[nodiscard]] const FieldOfView& get_field_of_view() const noexcept
         {
             return m_field_of_view;
         }
 
-        [[nodiscard("You must use near plane")]] const NumericType& get_near_plane() const noexcept
+        [[nodiscard]] const float& get_near_plane() const noexcept
         {
             return m_near_plane_distance;
         }
 
-        [[nodiscard("You must use far plane")]] const NumericType& get_far_plane() const noexcept
+        [[nodiscard]] const float& get_far_plane() const noexcept
         {
             return m_far_plane_distance;
         }
 
-        [[nodiscard("You must use view angles")]] const ViewAnglesType& get_view_angles() const noexcept
+        [[nodiscard]] const ViewAnglesType& get_view_angles() const noexcept
         {
             return m_view_angles;
         }
 
-        [[nodiscard("You must use origin")]] const Vector3<NumericType>& get_origin() const noexcept
+        [[nodiscard]] const Vector3<float>& get_origin() const noexcept
         {
             return m_origin;
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard("You must use screen position")]] std::expected<Vector3<NumericType>, Error>
-        world_to_screen(const Vector3<NumericType>& world_position) const noexcept
+        [[nodiscard]] std::expected<Vector3<float>, Error>
+        world_to_screen(const Vector3<float>& world_position) const noexcept
         {
             const auto normalized_cords = world_to_view_port(world_position);
 
@@ -298,8 +227,8 @@ namespace omath::projection
                 std::unreachable();
         }
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard("You must use unclipped screen position")]] std::expected<Vector3<NumericType>, Error>
-        world_to_screen_unclipped(const Vector3<NumericType>& world_position) const noexcept
+        [[nodiscard]] std::expected<Vector3<float>, Error>
+        world_to_screen_unclipped(const Vector3<float>& world_position) const noexcept
         {
             const auto normalized_cords = world_to_view_port(world_position, ViewPortClipping::MANUAL);
 
@@ -314,15 +243,14 @@ namespace omath::projection
                 std::unreachable();
         }
 
-        [[nodiscard("You must use frustum culling result")]] bool
-        is_culled_by_frustum(const Triangle<Vector3<NumericType>>& triangle) const noexcept
+        [[nodiscard]] bool is_culled_by_frustum(const Triangle<Vector3<float>>& triangle) const noexcept
         {
             // Transform to clip space (before perspective divide)
-            auto to_clip = [this](const Vector3<NumericType>& point)
+            auto to_clip = [this](const Vector3<float>& point)
             {
                 auto clip = get_view_projection_matrix()
-                            * mat_column_from_vector<NumericType, Mat4X4Type::get_store_ordering()>(point);
-                return std::array<NumericType, 4>{
+                            * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(point);
+                return std::array<float, 4>{
                         clip.at(0, 0), // x
                         clip.at(1, 0), // y
                         clip.at(2, 0), // z
@@ -335,13 +263,12 @@ 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] <= NumericType{0} && c1[3] <= NumericType{0} && c2[3] <= NumericType{0})
+            if (c0[3] <= 0.f && c1[3] <= 0.f && c2[3] <= 0.f)
                 return true;
 
             // Helper: all three vertices outside the same clip plane
-            auto all_outside_plane = [](const int axis, const std::array<NumericType, 4>& a,
-                                        const std::array<NumericType, 4>& b, const std::array<NumericType, 4>& c,
-                                        const bool positive_side)
+            auto all_outside_plane = [](const int axis, const std::array<float, 4>& a, const std::array<float, 4>& b,
+                                        const std::array<float, 4>& c, const bool positive_side)
             {
                 if (positive_side)
                     return a[axis] > a[3] && b[axis] > b[3] && c[axis] > c[3];
@@ -382,156 +309,35 @@ namespace omath::projection
             return false;
         }
 
-        [[nodiscard("You must use AABB frustum culling result")]] bool
-        is_aabb_culled_by_frustum(const primitives::Aabb<NumericType>& aabb) const noexcept
-        {
-            // For each plane, find the AABB corner most in the direction of the plane normal
-            // (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.
-        // For a 4x4 matrix with rows r0..r3:
-        //   Left   = r3 + r0
-        //   Right  = r3 - r0
-        //   Bottom = r3 + r1
-        //   Top    = r3 - r1
-        //   Near   = r3 + r2  ([-1,1]) or r2 ([0,1])
-        //   Far    = r3 - r2
-        [[nodiscard("You must use frustum planes")]] std::array<FrustumPlane, 6> extract_frustum_planes() const noexcept
+        [[nodiscard]] bool is_aabb_culled_by_frustum(const primitives::Aabb<float>& aabb) const noexcept
         {
             const auto& m = get_view_projection_matrix();
 
-            const auto extract_plane = [&m](const int sign, const int row) -> FrustumPlane
+            // Gribb-Hartmann: extract 6 frustum planes from the view-projection matrix.
+            // Each plane is (a, b, c, d) such that ax + by + cz + d >= 0 means inside.
+            // For a 4x4 matrix with rows r0..r3:
+            //   Left   = r3 + r0
+            //   Right  = r3 - r0
+            //   Bottom = r3 + r1
+            //   Top    = r3 - r1
+            //   Near   = r3 + r2  ([-1,1]) or r2 ([0,1])
+            //   Far    = r3 - r2
+            struct Plane final
+            {
+                float a, b, c, d;
+            };
+
+            const auto extract_plane = [&m](const int sign, const int row) -> Plane
             {
                 return {
-                        m.at(3, 0) + static_cast<NumericType>(sign) * m.at(row, 0),
-                        m.at(3, 1) + static_cast<NumericType>(sign) * m.at(row, 1),
-                        m.at(3, 2) + static_cast<NumericType>(sign) * m.at(row, 2),
-                        m.at(3, 3) + static_cast<NumericType>(sign) * m.at(row, 3),
+                        m.at(3, 0) + static_cast<float>(sign) * m.at(row, 0),
+                        m.at(3, 1) + static_cast<float>(sign) * m.at(row, 1),
+                        m.at(3, 2) + static_cast<float>(sign) * m.at(row, 2),
+                        m.at(3, 3) + static_cast<float>(sign) * m.at(row, 3),
                 };
             };
 
-            std::array<FrustumPlane, 6> planes = {
+            std::array<Plane, 6> planes = {
                     extract_plane(1, 0), // left
                     extract_plane(-1, 0), // right
                     extract_plane(1, 1), // bottom
@@ -545,32 +351,122 @@ namespace omath::projection
             else
                 planes[5] = extract_plane(1, 2);
 
-            return planes;
+            // For each plane, find the AABB corner most in the direction of the plane normal
+            // (the "positive vertex"). If it's outside, the entire AABB is outside.
+            for (const auto& [a, b, c, d] : planes)
+            {
+                const float px = a >= 0.f ? aabb.max.x : aabb.min.x;
+                const float py = b >= 0.f ? aabb.max.y : aabb.min.y;
+                const float pz = c >= 0.f ? aabb.max.z : aabb.min.z;
+
+                if (a * px + b * py + c * pz + d < 0.f)
+                    return true;
+            }
+
+            return false;
         }
 
-        template<class Type>
-        [[nodiscard("You must use NDC bounds check result")]] constexpr static bool
-        is_ndc_out_of_bounds(const Type& ndc) noexcept
+        [[nodiscard]] std::expected<Vector3<float>, Error>
+        world_to_view_port(const Vector3<float>& world_position,
+                           const ViewPortClipping& clipping = ViewPortClipping::AUTO) const noexcept
         {
-            constexpr auto eps = std::numeric_limits<NumericType>::epsilon();
+            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
+        {
+            constexpr auto eps = std::numeric_limits<float>::epsilon();
 
             const auto& data = ndc.raw_array();
             // x and y are always in [-1, 1]
-            if (data[0] < -NumericType{1} - eps || data[0] > NumericType{1} + eps)
+            if (data[0] < -1.0f - eps || data[0] > 1.0f + eps)
                 return true;
-            if (data[1] < -NumericType{1} - eps || data[1] > NumericType{1} + eps)
+            if (data[1] < -1.0f - eps || data[1] > 1.0f + eps)
                 return true;
             return is_ndc_z_value_out_of_bounds(data[2]);
         }
         template<class ZType>
-        [[nodiscard("You must use NDC z bounds check result")]]
+         [[nodiscard]]
         constexpr static bool is_ndc_z_value_out_of_bounds(const ZType& z_ndc) noexcept
         {
-            constexpr auto eps = std::numeric_limits<NumericType>::epsilon();
+            constexpr auto eps = std::numeric_limits<float>::epsilon();
             if constexpr (depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-                return z_ndc < -NumericType{1} - eps || z_ndc > NumericType{1} + eps;
+                return z_ndc < -1.0f - eps || z_ndc > 1.0f + eps;
             if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
-                return z_ndc < NumericType{0} - eps || z_ndc > NumericType{1} + eps;
+                return z_ndc < 0.0f - eps || z_ndc > 1.0f + eps;
 
             std::unreachable();
         }
@@ -589,8 +485,8 @@ namespace omath::projection
                                 v
             */
 
-        [[nodiscard("You must use screen position")]] Vector3<NumericType>
-        ndc_to_screen_position_from_top_left_corner(const Vector3<NumericType>& ndc) const noexcept
+        [[nodiscard]] Vector3<float>
+        ndc_to_screen_position_from_top_left_corner(const Vector3<float>& ndc) const noexcept
         {
             /*
             +------------------------>
@@ -603,12 +499,11 @@ namespace omath::projection
             |
             ⌄
             */
-            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};
+            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};
         }
 
-        [[nodiscard("You must use screen position")]] Vector3<NumericType>
-        ndc_to_screen_position_from_bottom_left_corner(const Vector3<NumericType>& ndc) const noexcept
+        [[nodiscard]] Vector3<float>
+        ndc_to_screen_position_from_bottom_left_corner(const Vector3<float>& ndc) const noexcept
         {
             /*
              ^
@@ -621,20 +516,18 @@ namespace omath::projection
              | (0, 0)
              +------------------------>
              */
-            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};
+            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};
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard("You must use NDC position")]] Vector3<NumericType>
-        screen_to_ndc(const Vector3<NumericType>& screen_pos) const noexcept
+        [[nodiscard]] Vector3<float> screen_to_ndc(const Vector3<float>& screen_pos) const noexcept
         {
             if constexpr (screen_start == ScreenStart::TOP_LEFT_CORNER)
-                return {screen_pos.x / m_view_port.m_width * NumericType{2} - NumericType{1},
-                        NumericType{1} - screen_pos.y / m_view_port.m_height * NumericType{2}, screen_pos.z};
+                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,
+                        screen_pos.z};
             else if constexpr (screen_start == ScreenStart::BOTTOM_LEFT_CORNER)
-                return {screen_pos.x / m_view_port.m_width * NumericType{2} - NumericType{1},
-                        (screen_pos.y / m_view_port.m_height - NumericType{0.5}) * NumericType{2}, screen_pos.z};
+                return {screen_pos.x / m_view_port.m_width * 2.f - 1.f,
+                        (screen_pos.y / m_view_port.m_height - 0.5f) * 2.f, screen_pos.z};
             else
                 std::unreachable();
         }

scripts/gource-timelapse.sh

@@ -1,61 +0,0 @@
-#!/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

@@ -34,37 +34,16 @@ 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_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
 
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
         std::unreachable();
     }
-} // namespace omath::cry_engine
+} // namespace omath::unity_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::cry_engine
+} // namespace omath::unity_engine

source/engines/frostbite_engine/formulas.cpp

@@ -34,36 +34,15 @@ 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_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
 
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
 
         std::unreachable();

source/engines/iw_engine/formulas.cpp

@@ -30,26 +30,6 @@ 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);
@@ -58,22 +38,25 @@ 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
     {
-        // InfinityWard Engine (inherited from Quake) stores FOV as horizontal FOV at a 4:3
-        // reference aspect. Convert to true vertical FOV, then delegate to the
-        // standard vertical-FOV left-handed builder with the caller's actual
-        // aspect ratio.
-        //   vfov = 2 · atan( tan(hfov_4:3 / 2) / (4/3) )
-        constexpr float k_source_reference_aspect = 4.f / 3.f;
-        const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);
+        // NOTE: Need magic number to fix fov calculation, since IW engine inherit Quake proj matrix calculation
+        constexpr auto k_multiply_factor = 0.75f;
+
+        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f) * k_multiply_factor;
 
         if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<
-                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
-                    vertical_fov, aspect_ratio, near, far);
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, far / (far - near), -(near * far) / (far - near)},
+                    {0, 0, 1, 0},
+            };
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<
-                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    vertical_fov, aspect_ratio, near, far);
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                    {0, 0, 1, 0},
+            };
         std::unreachable();
     };
 } // namespace omath::iw_engine

source/engines/opengl_engine/formulas.cpp

@@ -36,36 +36,15 @@ 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_vertical_fov<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+            return mat_perspective_right_handed<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
 
         if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_right_handed_vertical_fov<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            return mat_perspective_right_handed<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                         field_of_view, aspect_ratio, near, far);
 
         std::unreachable();

source/engines/rage_engine/formulas.cpp

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

source/engines/rage_engine/traits/camera_trait.cpp

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

source/engines/source_engine/formulas.cpp

@@ -17,26 +17,6 @@ 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);
@@ -58,22 +38,25 @@ 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
     {
-        // Source (inherited from Quake) stores FOV as horizontal FOV at a 4:3
-        // reference aspect. Convert to true vertical FOV, then delegate to the
-        // standard vertical-FOV left-handed builder with the caller's actual
-        // aspect ratio.
-        //   vfov = 2 · atan( tan(hfov_4:3 / 2) / (4/3) )
-        constexpr float k_source_reference_aspect = 4.f / 3.f;
-        const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);
+        // NOTE: Need magic number to fix fov calculation, since source inherit Quake proj matrix calculation
+        constexpr auto k_multiply_factor = 0.75f;
+
+        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f) * k_multiply_factor;
 
         if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<
-                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
-                    vertical_fov, aspect_ratio, near, far);
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, far / (far - near), -(near * far) / (far - near)},
+                    {0, 0, 1, 0},
+            };
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed_vertical_fov<
-                    float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    vertical_fov, aspect_ratio, near, far);
+            return {
+                    {1.f / (aspect_ratio * fov_half_tan), 0, 0, 0},
+                    {0, 1.f / (fov_half_tan), 0, 0},
+                    {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                    {0, 0, 1, 0},
+            };
         std::unreachable();
     }
 } // namespace omath::source_engine

source/engines/unity_engine/formulas.cpp

@@ -34,35 +34,14 @@ 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_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            return omath::mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return omath::mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+            return omath::mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR,
                                                        NDCDepthRange::NEGATIVE_ONE_TO_ONE>(field_of_view, aspect_ratio,
                                                                                            near, far);
         std::unreachable();

source/engines/unreal_engine/formulas.cpp

@@ -2,76 +2,45 @@
 // Created by Vlad on 3/22/2025.
 //
 #include "omath/engines/unreal_engine/formulas.hpp"
+
 namespace omath::unreal_engine
 {
-    Vector3<double> forward_vector(const ViewAngles& angles) noexcept
+    Vector3<float> forward_vector(const ViewAngles& angles) noexcept
     {
         const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
 
         return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
     }
-    Vector3<double> right_vector(const ViewAngles& angles) noexcept
+    Vector3<float> right_vector(const ViewAngles& angles) noexcept
     {
         const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
         return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
     }
-    Vector3<double> up_vector(const ViewAngles& angles) noexcept
+    Vector3<float> up_vector(const ViewAngles& angles) noexcept
     {
         const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
 
         return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
     }
-    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept
+    Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {
-        return mat_camera_view<double, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), -right_vector(angles),
                                                                up_vector(angles), cam_origin);
     }
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
     {
-        // UE FRotator is intrinsic Z-Y-X (Yaw → Pitch → Roll applied in local
-        // frame), which for column-vector composition is Rz·Ry·Rx.
-        // Pitch and roll axes in omath spin opposite to UE's convention, so
-        // both carry a sign flip.
-        return mat_rotation_axis_z<double, MatStoreType::ROW_MAJOR>(angles.yaw)
-               * mat_rotation_axis_y<double, MatStoreType::ROW_MAJOR>(-angles.pitch)
-               * mat_rotation_axis_x<double, MatStoreType::ROW_MAJOR>(-angles.roll);
+        return mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
-
-
-    Vector3<double> extract_origin(const Mat4X4& mat) noexcept
+    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
     {
-        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>(
+            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
-        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed_horizontal_fov<
-                    double, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
-                    field_of_view, aspect_ratio, near, far);
-        std::unreachable();
+
+        return mat_perspective_left_handed(field_of_view, aspect_ratio, near, far);
     }
 } // 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<double>& cam_origin, const Vector3<double>& look_at) noexcept
+    ViewAngles CameraTrait::calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept
     {
         const auto direction = (look_at - cam_origin).normalized();
 
-        return {PitchAngle::from_radians(std::asin(direction.z)),
+        return {PitchAngle::from_radians(-std::asin(direction.z)),
                 YawAngle::from_radians(std::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
     }
-    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept
+    Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {
         return unreal_engine::calc_view_matrix(angles, cam_origin);
     }
     Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
-                                               const projection::ViewPort& view_port, const double near,
-                                               const double far, const NDCDepthRange ndc_depth_range) noexcept
+                                               const projection::ViewPort& view_port, const float near,
+                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
         return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
                                                   ndc_depth_range);

source/hooks/hooks_manager.cpp

@@ -1,742 +0,0 @@
-#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)
-    {
-        const 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

@@ -5,14 +5,10 @@
 
 namespace omath::hud
 {
-    EntityOverlay& EntityOverlay::add_2d_box(const Color& box_color, const Color& fill_color,
-                                             const Color& outline_color, const float thickness)
+    EntityOverlay& EntityOverlay::add_2d_box(const Color& box_color, const Color& fill_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)
@@ -21,46 +17,41 @@ namespace omath::hud
         return *this;
     }
     EntityOverlay& EntityOverlay::add_cornered_2d_box(const Color& box_color, const Color& fill_color,
-                                                      const Color& outline_color, const float corner_ratio_len,
-                                                      const float thickness)
+                                                      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
-        draw_corner_line(m_canvas.top_left_corner,
-                         m_canvas.top_left_corner + Vector2<float>{corner_line_length, 0.f});
+        m_renderer->add_line(m_canvas.top_left_corner,
+                             m_canvas.top_left_corner + Vector2<float>{corner_line_length, 0.f}, box_color, thickness);
 
-        draw_corner_line(m_canvas.top_left_corner,
-                         m_canvas.top_left_corner + Vector2<float>{0.f, corner_line_length});
+        m_renderer->add_line(m_canvas.top_left_corner,
+                             m_canvas.top_left_corner + Vector2<float>{0.f, corner_line_length}, box_color, thickness);
 
-        draw_corner_line(m_canvas.bottom_left_corner,
-                         m_canvas.bottom_left_corner - Vector2<float>{0.f, corner_line_length});
+        m_renderer->add_line(m_canvas.bottom_left_corner,
+                             m_canvas.bottom_left_corner - Vector2<float>{0.f, corner_line_length}, box_color,
+                             thickness);
 
-        draw_corner_line(m_canvas.bottom_left_corner,
-                         m_canvas.bottom_left_corner + Vector2<float>{corner_line_length, 0.f});
+        m_renderer->add_line(m_canvas.bottom_left_corner,
+                             m_canvas.bottom_left_corner + Vector2<float>{corner_line_length, 0.f}, box_color,
+                             thickness);
         // Right Side
-        draw_corner_line(m_canvas.top_right_corner,
-                         m_canvas.top_right_corner - Vector2<float>{corner_line_length, 0.f});
+        m_renderer->add_line(m_canvas.top_right_corner,
+                             m_canvas.top_right_corner - Vector2<float>{corner_line_length, 0.f}, box_color, thickness);
 
-        draw_corner_line(m_canvas.top_right_corner,
-                         m_canvas.top_right_corner + Vector2<float>{0.f, corner_line_length});
+        m_renderer->add_line(m_canvas.top_right_corner,
+                             m_canvas.top_right_corner + Vector2<float>{0.f, corner_line_length}, box_color, thickness);
 
-        draw_corner_line(m_canvas.bottom_right_corner,
-                         m_canvas.bottom_right_corner - Vector2<float>{0.f, corner_line_length});
+        m_renderer->add_line(m_canvas.bottom_right_corner,
+                             m_canvas.bottom_right_corner - Vector2<float>{0.f, corner_line_length}, box_color,
+                             thickness);
 
-        draw_corner_line(m_canvas.bottom_right_corner,
-                         m_canvas.bottom_right_corner - Vector2<float>{corner_line_length, 0.f});
+        m_renderer->add_line(m_canvas.bottom_right_corner,
+                             m_canvas.bottom_right_corner - Vector2<float>{corner_line_length, 0.f}, box_color,
+                             thickness);
 
         return *this;
     }
@@ -98,11 +89,10 @@ namespace omath::hud
 
         return *this;
     }
-    EntityOverlay& EntityOverlay::add_right_label(const Color& color, const float offset,
-                                                  const widget::Outlined outlined,
+    EntityOverlay& EntityOverlay::add_right_label(const Color& color, const float offset, const bool outlined,
                                                   const std::string_view& text)
     {
-        if (outlined == widget::Outlined::On)
+        if (outlined)
             draw_outlined_text(m_text_cursor_right + Vector2<float>{offset, 0.f}, color, text);
         else
             m_renderer->add_text(m_text_cursor_right + Vector2<float>{offset, 0.f}, color, text.data());
@@ -111,12 +101,12 @@ namespace omath::hud
 
         return *this;
     }
-    EntityOverlay& EntityOverlay::add_top_label(const Color& color, const float offset, const widget::Outlined outlined,
+    EntityOverlay& EntityOverlay::add_top_label(const Color& color, const float offset, const bool outlined,
                                                 const std::string_view text)
     {
         m_text_cursor_top.y -= m_renderer->calc_text_size(text.data()).y;
 
-        if (outlined == widget::Outlined::On)
+        if (outlined)
             draw_outlined_text(m_text_cursor_top + Vector2<float>{0.f, -offset}, color, text);
         else
             m_renderer->add_text(m_text_cursor_top + Vector2<float>{0.f, -offset}, color, text.data());
@@ -393,12 +383,12 @@ namespace omath::hud
         return *this;
     }
 
-    EntityOverlay& EntityOverlay::add_bottom_label(const Color& color, const float offset, const widget::Outlined outlined,
+    EntityOverlay& EntityOverlay::add_bottom_label(const Color& color, const float offset, const bool outlined,
                                                    const std::string_view text)
     {
         const auto text_size = m_renderer->calc_text_size(text);
 
-        if (outlined == widget::Outlined::On)
+        if (outlined)
             draw_outlined_text(m_text_cursor_bottom + Vector2<float>{0.f, offset}, color, text);
         else
             m_renderer->add_text(m_text_cursor_bottom + Vector2<float>{0.f, offset}, color, text);
@@ -408,13 +398,13 @@ namespace omath::hud
         return *this;
     }
 
-    EntityOverlay& EntityOverlay::add_left_label(const Color& color, const float offset, const widget::Outlined outlined,
+    EntityOverlay& EntityOverlay::add_left_label(const Color& color, const float offset, const bool outlined,
                                                  const std::string_view& text)
     {
         const auto text_size = m_renderer->calc_text_size(text);
         const auto pos = m_text_cursor_left + Vector2<float>{-(offset + text_size.x), 0.f};
 
-        if (outlined == widget::Outlined::On)
+        if (outlined)
             draw_outlined_text(pos, color, text);
         else
             m_renderer->add_text(pos, color, text);
@@ -424,7 +414,7 @@ namespace omath::hud
         return *this;
     }
 
-    EntityOverlay& EntityOverlay::add_centered_bottom_label(const Color& color, const float offset, const widget::Outlined outlined,
+    EntityOverlay& EntityOverlay::add_centered_bottom_label(const Color& color, const float offset, const bool outlined,
                                                             const std::string_view& text)
     {
         const auto text_size = m_renderer->calc_text_size(text);
@@ -432,7 +422,7 @@ namespace omath::hud
                 m_canvas.bottom_left_corner.x + (m_canvas.bottom_right_corner.x - m_canvas.bottom_left_corner.x) / 2.f;
         const auto pos = Vector2<float>{box_center_x - text_size.x / 2.f, m_text_cursor_bottom.y + offset};
 
-        if (outlined == widget::Outlined::On)
+        if (outlined)
             draw_outlined_text(pos, color, text);
         else
             m_renderer->add_text(pos, color, text);
@@ -442,7 +432,7 @@ namespace omath::hud
         return *this;
     }
 
-    EntityOverlay& EntityOverlay::add_centered_top_label(const Color& color, const float offset, const widget::Outlined outlined,
+    EntityOverlay& EntityOverlay::add_centered_top_label(const Color& color, const float offset, const bool outlined,
                                                          const std::string_view& text)
     {
         const auto text_size = m_renderer->calc_text_size(text);
@@ -452,7 +442,7 @@ namespace omath::hud
         m_text_cursor_top.y -= text_size.y;
         const auto pos = Vector2<float>{box_center_x - text_size.x / 2.f, m_text_cursor_top.y - offset};
 
-        if (outlined == widget::Outlined::On)
+        if (outlined)
             draw_outlined_text(pos, color, text);
         else
             m_renderer->add_text(pos, color, text);
@@ -460,9 +450,9 @@ namespace omath::hud
         return *this;
     }
 
-    EntityOverlay::EntityOverlay(const Vector2<float>& top, const Vector2<float>& bottom, const float aspect,
+    EntityOverlay::EntityOverlay(const Vector2<float>& top, const Vector2<float>& bottom,
                                  const std::shared_ptr<HudRendererInterface>& renderer)
-        : m_canvas(top, bottom, aspect), m_text_cursor_right(m_canvas.top_right_corner),
+        : m_canvas(top, bottom), m_text_cursor_right(m_canvas.top_right_corner),
           m_text_cursor_top(m_canvas.top_left_corner), m_text_cursor_bottom(m_canvas.bottom_left_corner),
           m_text_cursor_left(m_canvas.top_left_corner), m_renderer(renderer)
     {
@@ -601,13 +591,12 @@ namespace omath::hud
     // ── widget dispatch ───────────────────────────────────────────────────────
     void EntityOverlay::dispatch(const widget::Box& box)
     {
-        add_2d_box(box.color, box.fill, box.outline, box.thickness);
+        add_2d_box(box.color, box.fill, box.thickness);
     }
 
     void EntityOverlay::dispatch(const widget::CorneredBox& cornered_box)
     {
-        add_cornered_2d_box(cornered_box.color, cornered_box.fill, cornered_box.outline, cornered_box.corner_ratio,
-                            cornered_box.thickness);
+        add_cornered_2d_box(cornered_box.color, cornered_box.fill, cornered_box.corner_ratio, cornered_box.thickness);
     }
 
     void EntityOverlay::dispatch(const widget::DashedBox& dashed_box)

source/lua/lua.cpp

@@ -17,13 +17,8 @@ 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

@@ -1,304 +0,0 @@
-//
-// 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

@@ -9,14 +9,11 @@
 #include <omath/engines/frostbite_engine/camera.hpp>
 #include <omath/engines/iw_engine/camera.hpp>
 #include <omath/engines/opengl_engine/camera.hpp>
-#include <omath/engines/rage_engine/camera.hpp>
 #include <omath/engines/source_engine/camera.hpp>
 #include <omath/engines/unity_engine/camera.hpp>
 #include <omath/engines/unreal_engine/camera.hpp>
 #include <sol/sol.hpp>
 #include <string_view>
-#include <type_traits>
-#include <utility>
 
 namespace
 {
@@ -81,79 +78,50 @@ namespace
     }
 
     // Register an engine: alias shared types, register unique Camera
-    template<class EngineTraits, class ArithmeticType = float>
-    requires std::is_arithmetic_v<ArithmeticType>
+    template<class EngineTraits>
     void register_engine(sol::table& omath_table, const char* subtable_name)
     {
         using PitchAngle = typename EngineTraits::PitchAngle;
         using ViewAngles = typename EngineTraits::ViewAngles;
         using Camera = typename EngineTraits::Camera;
-        using Mat4X4 = std::remove_cvref_t<decltype(std::declval<const Camera&>().get_view_matrix())>;
 
         auto engine_table = omath_table[subtable_name].get_or_create<sol::table>();
         auto types = omath_table["_types"].get<sol::table>();
 
         set_engine_aliases<PitchAngle, ViewAngles>(engine_table, types);
 
-        auto camera_type = engine_table.new_usertype<Camera>(
+        engine_table.new_usertype<Camera>(
                 "Camera",
-                sol::constructors<Camera(const omath::Vector3<ArithmeticType>&, const ViewAngles&,
+                sol::constructors<Camera(const omath::Vector3<float>&, const ViewAngles&,
                                          const omath::projection::ViewPort&, const omath::projection::FieldOfView&,
-                                         ArithmeticType, ArithmeticType)>());
+                                         float, float)>(),
+                "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,
 
-        camera_type["look_at"] = &Camera::look_at;
-        camera_type["get_forward"] = &Camera::get_forward;
-        camera_type["get_right"] = &Camera::get_right;
-        camera_type["get_up"] = &Camera::get_up;
-        camera_type["get_origin"] = &Camera::get_origin;
-        camera_type["get_view_angles"] = &Camera::get_view_angles;
-        camera_type["get_near_plane"] = &Camera::get_near_plane;
-        camera_type["get_far_plane"] = &Camera::get_far_plane;
-        camera_type["get_field_of_view"] = &Camera::get_field_of_view;
-        camera_type["set_origin"] = &Camera::set_origin;
-        camera_type["set_view_angles"] = &Camera::set_view_angles;
-        camera_type["set_view_port"] = &Camera::set_view_port;
-        camera_type["set_field_of_view"] = &Camera::set_field_of_view;
-        camera_type["set_near_plane"] = &Camera::set_near_plane;
-        camera_type["set_far_plane"] = &Camera::set_far_plane;
+                "world_to_screen",
+                [](const Camera& cam, const omath::Vector3<float>& pos)
+                        -> std::tuple<sol::optional<omath::Vector3<float>>, sol::optional<std::string>>
+                {
+                    auto result = cam.world_to_screen(pos);
+                    if (result)
+                        return {*result, sol::nullopt};
+                    return {sol::nullopt, projection_error_to_string(result.error())};
+                },
 
-        camera_type["get_view_matrix"] = [](const Camera& cam) -> Mat4X4
-        {
-            return cam.get_view_matrix();
-        };
-        camera_type["get_projection_matrix"] = [](const Camera& cam) -> Mat4X4
-        {
-            return cam.get_projection_matrix();
-        };
-        camera_type["get_view_projection_matrix"] = [](const Camera& cam) -> Mat4X4
-        {
-            return cam.get_view_projection_matrix();
-        };
-        camera_type["extract_projection_params"] = [](const Mat4X4& projection_matrix)
-        {
-            const auto params = Camera::extract_projection_params(projection_matrix);
-            return std::make_tuple(params.fov, params.aspect_ratio);
-        };
-        camera_type["calc_view_angles_from_view_matrix"] = &Camera::calc_view_angles_from_view_matrix;
-        camera_type["calc_origin_from_view_matrix"] = &Camera::calc_origin_from_view_matrix;
-
-        camera_type["world_to_screen"] = [](const Camera& cam, const omath::Vector3<ArithmeticType>& pos)
-                -> std::tuple<sol::optional<omath::Vector3<ArithmeticType>>, sol::optional<std::string>>
-        {
-            auto result = cam.world_to_screen(pos);
-            if (result)
-                return {*result, sol::nullopt};
-            return {sol::nullopt, projection_error_to_string(result.error())};
-        };
-
-        camera_type["screen_to_world"] = [](const Camera& cam, const omath::Vector3<ArithmeticType>& pos)
-                -> std::tuple<sol::optional<omath::Vector3<ArithmeticType>>, sol::optional<std::string>>
-        {
-            auto result = cam.screen_to_world(pos);
-            if (result)
-                return {*result, sol::nullopt};
-            return {sol::nullopt, projection_error_to_string(result.error())};
-        };
+                "screen_to_world",
+                [](const Camera& cam, const omath::Vector3<float>& pos)
+                        -> 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 -----------------------------------------------
@@ -182,12 +150,6 @@ namespace
         using ViewAngles = omath::source_engine::ViewAngles;
         using Camera = omath::source_engine::Camera;
     };
-    struct RageEngineTraits
-    {
-        using PitchAngle = omath::rage_engine::PitchAngle;
-        using ViewAngles = omath::rage_engine::ViewAngles;
-        using Camera = omath::rage_engine::Camera;
-    };
     struct UnityEngineTraits
     {
         using PitchAngle = omath::unity_engine::PitchAngle;
@@ -261,9 +223,8 @@ namespace omath::lua
         register_engine<FrostbiteEngineTraits>(omath_table, "frostbite");
         register_engine<IWEngineTraits>(omath_table, "iw");
         register_engine<SourceEngineTraits>(omath_table, "source");
-        register_engine<RageEngineTraits>(omath_table, "rage");
         register_engine<UnityEngineTraits>(omath_table, "unity");
-        register_engine<UnrealEngineTraits, double>(omath_table, "unreal");
+        register_engine<UnrealEngineTraits>(omath_table, "unreal");
         register_engine<CryEngineTraits>(omath_table, "cry");
     }
 } // namespace omath::lua::detail

source/lua/lua_hud.cpp

@@ -1,525 +0,0 @@
-//
-// 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::widget::Outlined outlined_from_bool(const bool outlined)
-    {
-        return outlined ? omath::hud::widget::Outlined::On : omath::hud::widget::Outlined::Off;
-    }
-
-    [[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, 4.f, 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_from_bool(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_from_bool(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_from_bool(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_from_bool(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_from_bool(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_from_bool(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

@@ -1,156 +0,0 @@
-//
-// 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

@@ -1,95 +0,0 @@
-//
-// 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

@@ -1,92 +0,0 @@
-//
-// 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