added gradient dir

Feature/gradient

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

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

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

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

.claude/settings.local.json

@@ -1,7 +0,0 @@
-{
-  "permissions": {
-    "allow": [
-      "Bash(ls:*)"
-    ]
-  }
-}

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

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

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

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

.idea/editor.xml

@@ -17,7 +17,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooManyArgs/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
@@ -103,14 +103,14 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexedValue" value="SUGGESTION" type="string" />
@@ -139,6 +139,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOverrideWithDifferentVisibility/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNamesMismatch/@EntryIndexedValue" value="HINT" type="string" />
@@ -202,7 +203,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexedValue" value="WARNING" type="string" />
@@ -216,7 +217,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnamedNamespaceInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnsignedZeroComparison/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />

AGENTS.md

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

CLAUDE.md

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

CMakeLists.txt

@@ -1,5 +1,4 @@
 cmake_minimum_required(VERSION 3.26)
-
 file(READ VERSION OMATH_VERSION)
 project(omath VERSION ${OMATH_VERSION} LANGUAGES CXX)
 
@@ -31,9 +30,11 @@ 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)
+option(OMATH_ENABLE_MODULES "Build omath C++ module interface" OFF)
+
 if(VCPKG_MANIFEST_FEATURES)
     foreach(omath_feature IN LISTS VCPKG_MANIFEST_FEATURES)
         if(omath_feature STREQUAL "imgui")
@@ -48,6 +49,8 @@ if(VCPKG_MANIFEST_FEATURES)
             set(OMATH_BUILD_EXAMPLES ON)
         elseif(omath_feature STREQUAL "lua")
             set(OMATH_ENABLE_LUA ON)
+        elseif(omath_feature STREQUAL "hooking")
+            set(OMATH_ENABLE_HOOKING ON)
         endif()
 
     endforeach()
@@ -78,6 +81,11 @@ if(${PROJECT_IS_TOP_LEVEL})
     message(STATUS "[${PROJECT_NAME}]: Coverage feature status ${OMATH_ENABLE_COVERAGE}")
     message(STATUS "[${PROJECT_NAME}]: Valgrind feature status ${OMATH_ENABLE_VALGRIND}")
     message(STATUS "[${PROJECT_NAME}]: Lua feature status ${OMATH_ENABLE_LUA}")
+    message(STATUS "[${PROJECT_NAME}]: Modules feature status ${OMATH_ENABLE_MODULES}")
+endif()
+
+if(OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
+    set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>" CACHE STRING "" FORCE)
 endif()
 
 file(GLOB_RECURSE OMATH_SOURCES CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/source/*.cpp")
@@ -89,6 +97,20 @@ else()
     add_library(${PROJECT_NAME} STATIC ${OMATH_SOURCES} ${OMATH_HEADERS})
 endif()
 
+if(OMATH_ENABLE_MODULES)
+    if(CMAKE_VERSION VERSION_LESS 3.28)
+        message(FATAL_ERROR "OMATH_ENABLE_MODULES requires CMake 3.28 or newer")
+    endif()
+    set_target_properties(${PROJECT_NAME} PROPERTIES CXX_SCAN_FOR_MODULES ON)
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+        target_compile_options(${PROJECT_NAME} PRIVATE /wd5244)
+    endif()
+    target_sources(
+        ${PROJECT_NAME}
+        PUBLIC FILE_SET omath_modules TYPE CXX_MODULES BASE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/modules"
+               FILES "${CMAKE_CURRENT_SOURCE_DIR}/modules/omath.cppm")
+endif()
+
 if (OMATH_ENABLE_LUA)
     target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_LUA)
 
@@ -100,6 +122,21 @@ if (OMATH_ENABLE_LUA)
     target_include_directories(${PROJECT_NAME} PRIVATE ${SOL2_INCLUDE_DIRS})
 endif ()
 
+if (OMATH_ENABLE_HOOKING)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_ENABLE_HOOKING)
+
+    find_package(safetyhook CONFIG REQUIRED)
+    target_link_libraries(${PROJECT_NAME} PRIVATE safetyhook::safetyhook)
+
+    if (WIN32)
+        target_link_libraries(${PROJECT_NAME} PRIVATE d3d9 d3d11 d3d12 dxgi opengl32 gdi32)
+    elseif (UNIX AND NOT APPLE)
+        find_package(OpenGL REQUIRED)
+        target_link_libraries(${PROJECT_NAME} PRIVATE OpenGL::GL ${CMAKE_DL_LIBS})
+    endif ()
+endif ()
+
+
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 target_compile_definitions(${PROJECT_NAME} PUBLIC OMATH_VERSION="${PROJECT_VERSION}")
@@ -147,10 +184,6 @@ set_target_properties(
                CXX_STANDARD 23
                CXX_STANDARD_REQUIRED ON)
 
-if(OMATH_STATIC_MSVC_RUNTIME_LIBRARY)
-    set_target_properties(${PROJECT_NAME} PROPERTIES MSVC_RUNTIME_LIBRARY
-                                                     "MultiThreaded$<$<CONFIG:Debug>:Debug>")
-endif()
 
 if(OMATH_USE_AVX2)
     if(MSVC)
@@ -213,6 +246,10 @@ target_include_directories(
 
 # Installation rules
 
+if(OMATH_ENABLE_MODULES)
+    set(OMATH_MODULE_FILE_SET FILE_SET omath_modules DESTINATION modules)
+endif()
+
 # Install the library
 install(
     TARGETS ${PROJECT_NAME}
@@ -221,6 +258,7 @@ install(
     LIBRARY DESTINATION lib COMPONENT ${PROJECT_NAME} # For shared libraries
     RUNTIME DESTINATION bin COMPONENT ${PROJECT_NAME} # For executables (on
                                                       # Windows)
+    ${OMATH_MODULE_FILE_SET}
     )
 
 # Install headers as part of omath_component

CMakePresets.json

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

CONTRIBUTING.md

@@ -1,32 +1,36 @@
-## 🤝 Contributing to OMath or other Orange's Projects
+# Contributing
 
-### ❕ Prerequisites
+## Prerequisites
 
-- A working up-to-date OMath installation
+- C++ compiler with C++23 support (Clang 18+, GCC 14+, MSVC 19.38+)
-- C++ knowledge
+- CMake 3.25+
-- Git knowledge
+- Git
-- Ability to ask for help (Feel free to create empty pull-request or PM a maintainer
+- Familiarity with the codebase (see `INSTALL.md` for setup)
-  in [Telegram](https://t.me/orange_cpp))
 
-### ⏬ Setting up OMath
+For questions, create a draft PR or reach out via [Telegram](https://t.me/orange_cpp).
 
-Please read INSTALL.md file in repository
+## Workflow
 
-### 🔀 Pull requests and Branches
+1. [Fork](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo) the repository.
+2. Create a feature branch from `main`.
+3. Make your changes, ensuring tests pass.
+4. Open a [pull request](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-a-pull-request-from-a-fork) against `main`.
 
-In order to send code back to the official OMath repository, you must first create a copy of OMath on your github
+## Code Style
-account ([fork](https://help.github.com/articles/creating-a-pull-request-from-a-fork/)) and
-then [create a pull request](https://help.github.com/articles/creating-a-pull-request-from-a-fork/) back to OMath.
 
-OMath development is performed on multiple branches. Changes are then pull requested into master. By default, changes
+Follow the project `.clang-format`. Run `clang-format` before committing.
-merged into master will not roll out to stable build users unless the `stable` tag is updated.
 
-### 📜 Code-Style
+## Building
 
-The orange code-style can be found in `.clang-format`.
+Use one of the CMake presets defined in `CMakePresets.json`:
 
-### 📦 Building
+```bash
+cmake --preset <preset-name> -DOMATH_BUILD_TESTS=ON
+cmake --build --preset <preset-name>
+```
 
-OMath has already created the  `cmake-build` and `out` directories where cmake/bin files are located. By default, you
+Run `cmake --list-presets` to see available configurations.
-can build OMath by running `cmake --build cmake-build/build/windows-release --target omath -j 6` in the source
+
-directory.
+## Tests
+
+All new functionality must include unit tests. Run the test binary after building to verify nothing is broken.

CREDITS.md

@@ -4,7 +4,8 @@ Thanks to everyone who made this possible, including:
 
 - Saikari aka luadebug for VCPKG port and awesome new initial logo design.
 - Billy O'Neal aka BillyONeal for fixing compilation issues due to C math library compatibility.
-- Alex2772 for reference of AUI declarative interface design for omath::hud
+- Alex2772 for reference of AUI declarative interface design for omath::hud.
+- Keith O'Hara aka kthohr for a C++ generalized constant expression-based math library that was used as reference.
 
 And a big hand to everyone else who has contributed over the past!
 

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, Unity, Unreal, Frostbite, IWEngine, CryEngine and canonical OpenGL**.
+- **Engine support**: Supports coordinate systems of **Source, Rage, 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.
@@ -113,6 +113,10 @@ if (auto screen = camera.world_to_screen(world_position)) {
 
 <br>
 
+![GTA5 Preview]
+
+<br>
+
 ![OpenGL Preview]
 
 <br>
@@ -144,6 +148,7 @@ 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 @@
-5.0.0
+5.4.0

benchmark/benchmark_projectile_pred.cpp

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

examples/CMakeLists.txt

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

examples/example_barycentric/example_barycentric.cpp

@@ -71,18 +71,18 @@ void drawChar(char c, float x, float y, float scale, const Color& color, std::ve
         lines.push_back(x + x1 * w);
         lines.push_back(y + y1 * h);
         lines.push_back(0.0f);
-        lines.push_back(color.x);
+        lines.push_back(color.value().x);
-        lines.push_back(color.y);
+        lines.push_back(color.value().y);
-        lines.push_back(color.z);
+        lines.push_back(color.value().z);
         lines.push_back(1.0f); // size
         lines.push_back(1.0f); // isLine
 
         lines.push_back(x + x2 * w);
         lines.push_back(y + y2 * h);
         lines.push_back(0.0f);
-        lines.push_back(color.x);
+        lines.push_back(color.value().x);
-        lines.push_back(color.y);
+        lines.push_back(color.value().y);
-        lines.push_back(color.z);
+        lines.push_back(color.value().z);
         lines.push_back(1.0f); // size
         lines.push_back(1.0f); // isLine
     };

examples/example_dx11_hook/CMakeLists.txt

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

examples/example_dx11_hook/dllmain.cpp

@@ -0,0 +1,179 @@
+#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>
+#include <thread>
+#include <tuple>
+
+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;
+
+    [[nodiscard]]
+    bool create_render_target(IDXGISwapChain* swap_chain)
+    {
+        ID3D11Texture2D* back_buffer = nullptr;
+        if (FAILED(swap_chain->GetBuffer(0, IID_PPV_ARGS(&back_buffer))))
+            return false;
+
+        D3D11_RENDER_TARGET_VIEW_DESC desc{};
+        desc.ViewDimension = D3D11_RTV_DIMENSION_TEXTURE2DMS;
+        desc.Format = DXGI_FORMAT_R8G8B8A8_UNORM;
+
+        const HRESULT result = g_device->CreateRenderTargetView(back_buffer, &desc, &g_render_target_view);
+        back_buffer->Release();
+        return SUCCEEDED(result);
+    }
+
+    void release_render_target()
+    {
+        if (g_context)
+            g_context->OMSetRenderTargets(0, nullptr, nullptr);
+
+        if (g_render_target_view)
+        {
+            g_render_target_view->Release();
+            g_render_target_view = nullptr;
+        }
+
+        if (g_context)
+            g_context->Flush();
+    }
+
+    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{};
+        std::ignore = swap_chain->GetDesc(&desc);
+
+        std::ignore = 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(
+                [](const HWND h, const UINT msg, const WPARAM wp, const 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))
+            return;
+
+        ID3D11RenderTargetView* previous_render_target_views[D3D11_SIMULTANEOUS_RENDER_TARGET_COUNT]{};
+        ID3D11DepthStencilView* previous_depth_stencil_view = nullptr;
+        g_context->OMGetRenderTargets(D3D11_SIMULTANEOUS_RENDER_TARGET_COUNT, previous_render_target_views,
+                                      &previous_depth_stencil_view);
+
+        g_context->OMSetRenderTargets(1, &g_render_target_view, nullptr);
+
+        ImGui_ImplDX11_NewFrame();
+        ImGui_ImplWin32_NewFrame();
+        ImGui::NewFrame();
+        ImGui::GetIO().MouseDrawCursor = true;
+        ImGui::ShowDemoWindow();
+
+        ImGui::Render();
+        ImGui_ImplDX11_RenderDrawData(ImGui::GetDrawData());
+
+        g_context->OMSetRenderTargets(D3D11_SIMULTANEOUS_RENDER_TARGET_COUNT, previous_render_target_views,
+                                      previous_depth_stencil_view);
+        for (ID3D11RenderTargetView* render_target_view : previous_render_target_views)
+        {
+            if (render_target_view)
+                render_target_view->Release();
+        }
+        if (previous_depth_stencil_view)
+            previous_depth_stencil_view->Release();
+    }
+
+    void on_resize_buffers(IDXGISwapChain*, UINT, UINT, UINT, DXGI_FORMAT, UINT)
+    {
+        release_render_target();
+    }
+} // namespace
+
+BOOL WINAPI DllMain(const HINSTANCE h_instance, const DWORD reason, LPVOID)
+{
+    if (reason == DLL_PROCESS_ATTACH)
+    {
+        DisableThreadLibraryCalls(h_instance);
+        std::thread(
+                []()
+                {
+                    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);
+                    std::ignore = mgr.hook_dx11();
+                    return 0;
+                })
+                .detach();
+    }
+    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();
+        }
+
+        release_render_target();
+        if (g_context)
+        {
+            g_context->Release();
+            g_context = nullptr;
+        }
+        if (g_device)
+        {
+            g_device->Release();
+            g_device = nullptr;
+        }
+    }
+    return TRUE;
+}

examples/example_dx12_hook/CMakeLists.txt

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

examples/example_dx12_hook/dllmain.cpp

@@ -0,0 +1,482 @@
+#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;
+        // Each back buffer gets its own allocator because allocators cannot be reset while GPU work uses them.
+        ID3D12CommandAllocator* command_allocator = nullptr;
+        D3D12_CPU_DESCRIPTOR_HANDLE rtv_handle = {};
+        UINT64 fence_value = 0;
+    };
+
+    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;
+    ID3D12Fence* g_fence = nullptr;
+    HANDLE g_fence_event = nullptr;
+    UINT64 g_fence_value = 0;
+    std::vector<frame_context> g_frames;
+
+    // This fence tracks only the overlay work submitted by this DLL, not the game's whole frame.
+    bool create_sync_objects()
+    {
+        if (g_fence)
+            return true;
+
+        if (FAILED(g_device->CreateFence(0, D3D12_FENCE_FLAG_NONE, IID_PPV_ARGS(&g_fence))))
+            return false;
+
+        g_fence_event = CreateEvent(nullptr, FALSE, FALSE, nullptr);
+        if (!g_fence_event)
+        {
+            g_fence->Release();
+            g_fence = nullptr;
+            return false;
+        }
+
+        g_fence_value = 0;
+        return true;
+    }
+
+    bool wait_for_fence_value(UINT64 fence_value)
+    {
+        if (!g_fence || !g_fence_event || fence_value == 0 || g_fence->GetCompletedValue() >= fence_value)
+            return true;
+
+        if (FAILED(g_fence->SetEventOnCompletion(fence_value, g_fence_event)))
+            return false;
+
+        WaitForSingleObject(g_fence_event, INFINITE);
+        return true;
+    }
+
+    void wait_for_frame(frame_context& fc)
+    {
+        // The current back buffer's allocator is safe to reset only after its previous overlay pass completes.
+        if (wait_for_fence_value(fc.fence_value))
+            fc.fence_value = 0;
+    }
+
+    void wait_for_gpu()
+    {
+        // ResizeBuffers and shutdown must not release back buffers still referenced by queued overlay commands.
+        if (!g_command_queue || !g_fence || !g_fence_event)
+            return;
+
+        const UINT64 fence_value = ++g_fence_value;
+        if (FAILED(g_command_queue->Signal(g_fence, fence_value)))
+            return;
+
+        if (wait_for_fence_value(fence_value))
+        {
+            for (auto& fc : g_frames)
+                fc.fence_value = 0;
+        }
+    }
+
+    bool signal_frame(frame_context& fc)
+    {
+        if (!g_command_queue || !g_fence)
+            return false;
+
+        const UINT64 fence_value = ++g_fence_value;
+        if (FAILED(g_command_queue->Signal(g_fence, fence_value)))
+            return false;
+
+        fc.fence_value = fence_value;
+        return true;
+    }
+
+    void release_sync_objects()
+    {
+        if (g_fence_event)
+        {
+            CloseHandle(g_fence_event);
+            g_fence_event = nullptr;
+        }
+        if (g_fence)
+        {
+            g_fence->Release();
+            g_fence = nullptr;
+        }
+        g_fence_value = 0;
+    }
+
+    void release_frame_contexts()
+    {
+        for (auto& fc : g_frames)
+        {
+            if (fc.render_target)
+            {
+                fc.render_target->Release();
+                fc.render_target = nullptr;
+            }
+            if (fc.command_allocator)
+            {
+                fc.command_allocator->Release();
+                fc.command_allocator = nullptr;
+            }
+            fc.fence_value = 0;
+        }
+        g_frames.clear();
+
+        if (g_rtv_heap)
+        {
+            g_rtv_heap->Release();
+            g_rtv_heap = nullptr;
+        }
+    }
+
+    void release_command_objects()
+    {
+        if (g_command_list)
+        {
+            g_command_list->Release();
+            g_command_list = nullptr;
+        }
+    }
+
+    bool create_command_objects()
+    {
+        if (g_frames.empty() || !g_frames[0].command_allocator)
+            return false;
+
+        if (FAILED(g_device->CreateCommandList(0, D3D12_COMMAND_LIST_TYPE_DIRECT, g_frames[0].command_allocator,
+                                               nullptr, IID_PPV_ARGS(&g_command_list))))
+        {
+            release_command_objects();
+            return false;
+        }
+
+        g_command_list->Close();
+        return true;
+    }
+
+    bool create_render_targets(IDXGISwapChain* swap_chain)
+    {
+        // These references must be released before IDXGISwapChain::ResizeBuffers reaches the original function.
+        DXGI_SWAP_CHAIN_DESC desc{};
+        if (FAILED(swap_chain->GetDesc(&desc)))
+            return false;
+
+        const UINT buffer_count = desc.BufferCount;
+
+        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 false;
+
+        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(g_device->CreateCommandAllocator(D3D12_COMMAND_LIST_TYPE_DIRECT,
+                                                        IID_PPV_ARGS(&g_frames[i].command_allocator))))
+            {
+                release_frame_contexts();
+                return false;
+            }
+            if (FAILED(swap_chain->GetBuffer(i, IID_PPV_ARGS(&g_frames[i].render_target))))
+            {
+                release_frame_contexts();
+                return false;
+            }
+            g_device->CreateRenderTargetView(g_frames[i].render_target, nullptr, rtv_handle);
+            rtv_handle.ptr += rtv_size;
+        }
+
+        return true;
+    }
+
+    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;
+        }
+
+        if (!create_render_targets(swap_chain))
+            return;
+
+        if (!create_command_objects())
+            return;
+
+        if (!create_sync_objects())
+            return;
+
+        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*)
+    {
+        // The overlay records DIRECT command lists; executing them on COPY/COMPUTE queues can remove the device.
+        if (!g_command_queue)
+        {
+            const D3D12_COMMAND_QUEUE_DESC desc = queue->GetDesc();
+            if (desc.Type == D3D12_COMMAND_LIST_TYPE_DIRECT)
+                g_command_queue = queue;
+        }
+    }
+
+    bool ensure_initialized(IDXGISwapChain* swap_chain)
+    {
+        if (g_initialized)
+            return true;
+
+        if (!g_init_attempted && g_command_queue)
+            init(swap_chain);
+
+        return false;
+    }
+
+    bool ensure_render_targets(IDXGISwapChain* swap_chain)
+    {
+        if (!g_frames.empty() && g_rtv_heap)
+            return true;
+
+        return create_render_targets(swap_chain);
+    }
+
+    bool ensure_command_list()
+    {
+        if (g_command_list)
+            return true;
+
+        return create_command_objects();
+    }
+
+    bool ensure_sync_ready()
+    {
+        if (g_fence)
+            return true;
+
+        return create_sync_objects();
+    }
+
+    bool ensure_present_resources(IDXGISwapChain* swap_chain)
+    {
+        if (!ensure_initialized(swap_chain) || !g_command_queue)
+            return false;
+
+        return ensure_render_targets(swap_chain) && ensure_command_list() && ensure_sync_ready();
+    }
+
+    bool begin_imgui_frame()
+    {
+        if (GetAsyncKeyState(VK_INSERT) & 1)
+            show_menu = !show_menu;
+
+        if (!show_menu)
+            return false;
+
+        ImGui_ImplDX12_NewFrame();
+        ImGui_ImplWin32_NewFrame();
+        ImGui::NewFrame();
+        ImGui::GetIO().MouseDrawCursor = true;
+        ImGui::ShowDemoWindow();
+        ImGui::EndFrame();
+        return true;
+    }
+
+    frame_context* current_frame_context()
+    {
+        const UINT buf_idx = g_swap_chain->GetCurrentBackBufferIndex();
+        if (buf_idx >= g_frames.size())
+            return nullptr;
+
+        return &g_frames[buf_idx];
+    }
+
+    bool reset_overlay_command_list(frame_context& fc)
+    {
+        wait_for_frame(fc);
+
+        // Both resets depend on wait_for_frame(); otherwise DLSSG/Streamline can observe invalid GPU work.
+        if (FAILED(fc.command_allocator->Reset()))
+            return false;
+
+        if (FAILED(g_command_list->Reset(fc.command_allocator, nullptr)))
+            return false;
+
+        return true;
+    }
+
+    void transition_render_target(frame_context& fc, D3D12_RESOURCE_STATES before, D3D12_RESOURCE_STATES after)
+    {
+        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 = before;
+        barrier.Transition.StateAfter = after;
+        g_command_list->ResourceBarrier(1, &barrier);
+    }
+
+    void record_overlay_commands(frame_context& fc)
+    {
+        transition_render_target(fc, D3D12_RESOURCE_STATE_PRESENT, D3D12_RESOURCE_STATE_RENDER_TARGET);
+        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);
+
+        transition_render_target(fc, D3D12_RESOURCE_STATE_RENDER_TARGET, D3D12_RESOURCE_STATE_PRESENT);
+    }
+
+    bool submit_overlay_commands(frame_context& fc)
+    {
+        if (FAILED(g_command_list->Close()))
+            return false;
+
+        ID3D12CommandList* cmd_lists[] = {g_command_list};
+        g_command_queue->ExecuteCommandLists(1, cmd_lists);
+        return signal_frame(fc);
+    }
+
+    void on_present(IDXGISwapChain* swap_chain, UINT, UINT)
+    {
+        if (!ensure_present_resources(swap_chain) || !begin_imgui_frame())
+            return;
+
+        frame_context* fc = current_frame_context();
+        if (!fc || !reset_overlay_command_list(*fc))
+            return;
+
+        record_overlay_commands(*fc);
+        std::ignore = submit_overlay_commands(*fc);
+    }
+
+    void on_resize_buffers(IDXGISwapChain*, UINT, UINT, UINT, DXGI_FORMAT, UINT)
+    {
+        wait_for_gpu();
+        release_command_objects();
+        release_frame_contexts();
+    }
+
+    void release_dx12_resources()
+    {
+        wait_for_gpu();
+        release_command_objects();
+        release_frame_contexts();
+        release_sync_objects();
+        if (g_srv_heap)
+        {
+            g_srv_heap->Release();
+            g_srv_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);
+        std::thread(
+                []()
+                {
+                    while (!GetModuleHandle("d3d12.dll"))
+                        Sleep(100);
+
+                    auto& mgr = omath::hooks::HooksManager::get();
+                    mgr.set_on_present(on_present);
+                    mgr.set_on_resize_buffers(on_resize_buffers);
+                    mgr.set_on_execute_command_lists(on_execute_command_lists);
+                    std::ignore = mgr.hook_dx12();
+                    return 0;
+                })
+                .detach();
+    }
+    else if (reason == DLL_PROCESS_DETACH)
+    {
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.unhook_wnd_proc();
+        mgr.unhook_dx12();
+
+        if (g_initialized)
+        {
+            ImGui_ImplDX12_Shutdown();
+            ImGui_ImplWin32_Shutdown();
+            ImGui::DestroyContext();
+        }
+        release_dx12_resources();
+    }
+    return TRUE;
+}

examples/example_dx9_hook/CMakeLists.txt

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

examples/example_dx9_hook/dllmain.cpp

@@ -0,0 +1,107 @@
+#include "omath/hooks/hooks_manager.hpp"
+#include <Windows.h>
+#include <d3d9.h>
+#include <imgui.h>
+#include <imgui_impl_dx9.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;
+
+    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;
+                });
+        std::ignore = 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::GetIO().MouseDrawCursor = true;
+        ImGui::ShowDemoWindow();
+        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);
+        std::thread(
+                []()
+                {
+                    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);
+                    std::ignore = mgr.hook_dx9();
+                    return 0;
+                })
+                .detach();
+    }
+    else if (reason == DLL_PROCESS_DETACH)
+    {
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.unhook_wnd_proc();
+        mgr.unhook_dx9();
+
+        if (g_initialized)
+        {
+            ImGui_ImplDX9_Shutdown();
+            ImGui_ImplWin32_Shutdown();
+            ImGui::DestroyContext();
+        }
+    }
+    return TRUE;
+}

examples/example_glfw3/example_glfw3.cpp

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

examples/example_hud/gui/main_window.cpp

@@ -4,6 +4,7 @@
 #include "main_window.hpp"
 #include "omath/hud/renderer_realizations/imgui_renderer.hpp"
 #include <GLFW/glfw3.h>
+#include <cmath>
 #include <imgui.h>
 #include <imgui_impl_glfw.h>
 #include <imgui_impl_opengl3.h>
@@ -65,12 +66,32 @@ namespace imgui_desktop::gui
         ImGui::Begin("Controls", &m_opened,
                      ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoCollapse);
         ImGui::PushItemWidth(160.f);
+        const auto draw_glow_controls = [](const char* label, GlowSettings& settings)
+        {
+            ImGui::PushID(label);
+            ImGui::TextUnformatted(label);
+            ImGui::Checkbox("Glow", &settings.enabled);
+            if (settings.enabled)
+            {
+                ImGui::ColorEdit4("Color", reinterpret_cast<float*>(&settings.color), ImGuiColorEditFlags_NoInputs);
+                ImGui::InputFloat("Radius", &settings.radius);
+                ImGui::InputFloat("Intensity", &settings.intensity);
+            }
+            ImGui::PopID();
+        };
 
         if (ImGui::CollapsingHeader("Entity", ImGuiTreeNodeFlags_DefaultOpen))
         {
             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);
+            draw_glow_controls("Canvas light", m_canvas_glow);
+            if (m_canvas_glow.enabled)
+            {
+                ImGui::InputInt("Blur layers##canvas", &m_canvas_glow_layers);
+                ImGui::InputFloat("Rounding##canvas", &m_canvas_glow_rounding);
+            }
         }
 
         if (ImGui::CollapsingHeader("Box", ImGuiTreeNodeFlags_DefaultOpen))
@@ -82,8 +103,20 @@ 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::Checkbox("Gradient fill", &m_gradient_box_fill);
+            ImGui::Checkbox("Animate gradients", &m_animate_gradients);
+            if (m_gradient_box_fill)
+            {
+                ImGui::ColorEdit4("Gradient top##box", reinterpret_cast<float*>(&m_box_gradient_top),
+                                  ImGuiColorEditFlags_NoInputs);
+                ImGui::ColorEdit4("Gradient bottom##box", reinterpret_cast<float*>(&m_box_gradient_bottom),
+                                  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);
+            draw_glow_controls("Box glow", m_box_glow);
+            draw_glow_controls("Cornered box glow", m_cornered_box_glow);
             ImGui::Separator();
             ImGui::ColorEdit4("Dash color", reinterpret_cast<float*>(&m_dash_color), ImGuiColorEditFlags_NoInputs);
             ImGui::SliderFloat("Dash length", &m_dash_len, 2.f, 30.f);
@@ -97,6 +130,7 @@ namespace imgui_desktop::gui
             ImGui::ColorEdit4("BG##bar", reinterpret_cast<float*>(&m_bar_bg_color), ImGuiColorEditFlags_NoInputs);
             ImGui::ColorEdit4("Outline##bar", reinterpret_cast<float*>(&m_bar_outline_color),
                               ImGuiColorEditFlags_NoInputs);
+            ImGui::Checkbox("Gradient bars", &m_gradient_bars);
             ImGui::SliderFloat("Width##bar", &m_bar_width, 1.f, 20.f);
             ImGui::SliderFloat("Value##bar", &m_bar_value, 0.f, 1.f);
             ImGui::SliderFloat("Offset##bar", &m_bar_offset, 1.f, 20.f);
@@ -114,11 +148,26 @@ namespace imgui_desktop::gui
             ImGui::Checkbox("Bot dashed##bar", &m_show_bottom_dashed_bar);
             ImGui::SliderFloat("Dash len##bar", &m_bar_dash_len, 2.f, 20.f);
             ImGui::SliderFloat("Dash gap##bar", &m_bar_dash_gap, 1.f, 15.f);
+            draw_glow_controls("Bar glow", m_bar_glow);
         }
 
         if (ImGui::CollapsingHeader("Labels", ImGuiTreeNodeFlags_DefaultOpen))
         {
             ImGui::Checkbox("Outlined", &m_outlined);
+            ImGui::Checkbox("Gradient centered label", &m_gradient_label);
+            if (m_gradient_label)
+            {
+                ImGui::ColorEdit4("Gradient left##lbl", reinterpret_cast<float*>(&m_label_gradient_left),
+                                  ImGuiColorEditFlags_NoInputs);
+                ImGui::ColorEdit4("Gradient right##lbl", reinterpret_cast<float*>(&m_label_gradient_right),
+                                  ImGuiColorEditFlags_NoInputs);
+                if (m_animate_gradients)
+                {
+                    int direction = static_cast<int>(m_label_gradient_direction);
+                    if (ImGui::Combo("Direction##lbl", &direction, "Right to left\0Left to right\0"))
+                        m_label_gradient_direction = static_cast<omath::hud::GradientDirection>(direction);
+                }
+            }
             ImGui::SliderFloat("Offset##lbl", &m_label_offset, 0.f, 15.f);
             ImGui::Checkbox("Right##lbl", &m_show_right_labels);
             ImGui::SameLine();
@@ -129,6 +178,7 @@ namespace imgui_desktop::gui
             ImGui::Checkbox("Ctr top##lbl", &m_show_centered_top);
             ImGui::SameLine();
             ImGui::Checkbox("Ctr bot##lbl", &m_show_centered_bottom);
+            draw_glow_controls("Label glow", m_label_glow);
         }
 
         if (ImGui::CollapsingHeader("Skeleton"))
@@ -191,62 +241,157 @@ namespace imgui_desktop::gui
         using namespace omath::hud::widget;
         using omath::hud::when;
         const auto* vp = ImGui::GetMainViewport();
-        const Bar bar{m_bar_color, m_bar_outline_color, m_bar_bg_color, m_bar_width, m_bar_value, m_bar_offset};
         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};
+        const float entity_height = m_entity_bottom_y - m_entity_top_y;
+        const float entity_half_width = entity_height / m_entity_aspect;
+        const auto joint = [&](const float x, const float y)
+        {
+            return omath::Vector2<float>{m_entity_x + (x * 2.f - 1.f) * entity_half_width,
+                                         m_entity_top_y + y * entity_height};
+        };
+        const auto head = joint(0.5f, 0.1f);
+        const auto neck = joint(0.5f, 0.22f);
+        const auto torso = joint(0.5f, 0.5f);
+        const auto left_shoulder = joint(0.3f, 0.25f);
+        const auto right_shoulder = joint(0.7f, 0.25f);
+        const auto left_elbow = joint(0.18f, 0.42f);
+        const auto right_elbow = joint(0.82f, 0.42f);
+        const auto left_hand = joint(0.1f, 0.58f);
+        const auto right_hand = joint(0.9f, 0.58f);
+        const auto left_hip = joint(0.4f, 0.55f);
+        const auto right_hip = joint(0.6f, 0.55f);
+        const auto left_knee = joint(0.36f, 0.75f);
+        const auto right_knee = joint(0.64f, 0.75f);
+        const auto left_foot = joint(0.3f, 0.95f);
+        const auto right_foot = joint(0.7f, 0.95f);
+        const std::array skeleton_bones = {
+                Bone{head, neck},
+                Bone{neck, torso},
+                Bone{neck, left_shoulder},
+                Bone{left_shoulder, left_elbow},
+                Bone{left_elbow, left_hand},
+                Bone{neck, right_shoulder},
+                Bone{right_shoulder, right_elbow},
+                Bone{right_elbow, right_hand},
+                Bone{torso, left_hip},
+                Bone{left_hip, left_knee},
+                Bone{left_knee, left_foot},
+                Bone{torso, right_hip},
+                Bone{right_hip, right_knee},
+                Bone{right_knee, right_foot},
+        };
+        const auto animated_color = [&](const omath::Color& color, const float hue_offset)
+        {
+            if (!m_animate_gradients)
+                return color;
 
-        omath::hud::EntityOverlay({m_entity_x, m_entity_top_y}, {m_entity_x, m_entity_bottom_y},
+            auto hsv = color.to_hsv();
+            hsv.hue = std::fmod(hsv.hue + static_cast<float>(ImGui::GetTime()) * 0.15f + hue_offset, 1.f);
+            const auto animated = omath::Color::from_hsv(hsv).value();
+            return omath::Color{animated.x, animated.y, animated.z, color.value().w};
+        };
+        const auto box_gradient_top = animated_color(m_box_gradient_top, 0.f);
+        const auto box_gradient_bottom = animated_color(m_box_gradient_bottom, 0.5f);
+        const auto red = omath::Color{1.f, 0.f, 0.f, 1.f};
+        const auto green = omath::Color{0.f, 1.f, 0.f, 1.f};
+        const auto make_glow = [](const GlowSettings& settings) -> std::optional<Glow>
+        {
+            if (!settings.enabled)
+                return std::nullopt;
+            return Glow{settings.color, settings.radius, settings.intensity};
+        };
+        const auto box_glow = make_glow(m_box_glow);
+        const auto cornered_box_glow = make_glow(m_cornered_box_glow);
+        const auto bar_glow = make_glow(m_bar_glow);
+        const auto label_glow = make_glow(m_label_glow);
+        const auto canvas_glow = make_glow(m_canvas_glow);
+        const BarPaint bar_color = m_gradient_bars ? BarPaint{BarGradient{red, green}} : BarPaint{m_bar_color};
+        const Bar bar{bar_color, m_bar_outline_color, m_bar_bg_color, m_bar_width, m_bar_value, m_bar_offset, bar_glow};
+        const Paint box_fill = m_gradient_box_fill
+                                       ? Paint{omath::hud::Gradient{box_gradient_top, box_gradient_top,
+                                                                    box_gradient_bottom, box_gradient_bottom}}
+                                       : Paint{m_box_fill};
+        const Paint centered_label_color =
+                m_gradient_label ? Paint{omath::hud::Gradient{m_label_gradient_left, m_label_gradient_right,
+                                                              m_label_gradient_right, m_label_gradient_left,
+                                                              m_animate_gradients, 4.f, 0.7f,
+                                                              m_label_gradient_direction}}
+                                 : Paint{omath::Color::from_rgba(255, 255, 255, 255)};
+
+        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,
                                   std::make_shared<omath::hud::ImguiHudRenderer>())
                 .contents(
+                        when(canvas_glow.has_value(), CanvasGlow{canvas_glow.value_or(Glow{m_canvas_glow.color}),
+                                                                 m_canvas_glow_layers, m_canvas_glow_rounding}),
                         // ── Boxes ────────────────────────────────────────────────────
-                        when(m_show_box, Box{m_box_color, m_box_fill, m_box_thickness}),
+                        when(m_show_box, Box{m_box_color, box_fill, m_box_outline, m_box_thickness, box_glow}),
-                        when(m_show_cornered_box, CorneredBox{omath::Color::from_rgba(255, 0, 255, 255), m_box_fill,
+                        when(m_show_cornered_box,
-                                                              m_corner_ratio, m_box_thickness}),
+                             CorneredBox{omath::Color::from_rgba(255, 0, 255, 255), m_box_fill, m_box_outline,
+                                         m_corner_ratio, m_box_thickness, cornered_box_glow}),
                         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,
+                                when(m_show_right_labels, Label{{0.f, 1.f, 0.f, 1.f},
-                                     Label{{0.f, 1.f, 0.f, 1.f}, m_label_offset, m_outlined, "Health: 100/100"}),
+                                                                m_label_offset,
-                                when(m_show_right_labels,
+                                                                outline_helper(m_outlined),
-                                     Label{{1.f, 0.f, 0.f, 1.f}, m_label_offset, m_outlined, "Shield: 125/125"}),
+                                                                "Health: 100/100"}),
-                                when(m_show_right_labels,
+                                when(m_show_right_labels, Label{{1.f, 0.f, 0.f, 1.f},
-                                     Label{{1.f, 0.f, 1.f, 1.f}, m_label_offset, m_outlined, "*LOCKED*"}),
+                                                                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*"}),
 
-                            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),
+                                when(m_show_left_labels,
-                                                               m_label_offset, m_outlined, "Armor: 75"}),
+                                     Label{omath::Color::from_rgba(255, 128, 0, 255), m_label_offset,
-                                when(m_show_left_labels, Label{omath::Color::from_rgba(0, 200, 255, 255),
+                                           outline_helper(m_outlined), "Armor: 75"}),
-                                                               m_label_offset, m_outlined, "Level: 42"}),
+                                when(m_show_left_labels,
+                                     Label{omath::Color::from_rgba(0, 200, 255, 255), m_label_offset,
+                                           outline_helper(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),
+                                when(m_show_centered_top,
-                                                                         m_label_offset, m_outlined, "*VISIBLE*"}}),
+                                     Centered{Label{omath::Color::from_rgba(0, 255, 255, 255), m_label_offset,
+                                                    outline_helper(m_outlined), "*VISIBLE*"}}),
                                 when(m_show_top_labels, Label{omath::Color::from_rgba(255, 255, 0, 255), m_label_offset,
-                                                              m_outlined, "*SCOPED*"}),
+                                                              outline_helper(m_outlined), "*SCOPED*"}),
                                 when(m_show_top_labels, Label{omath::Color::from_rgba(255, 0, 0, 255), m_label_offset,
-                                                              m_outlined, "*BLEEDING*"}),
+                                                              outline_helper(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),
+                                when(m_show_centered_bottom,
-                                                                            m_label_offset, m_outlined, "PlayerName"}}),
+                                     Centered{Label{centered_label_color, m_label_offset, outline_helper(m_outlined),
+                                                    "Gradient PlayerName", label_glow}}),
                                 when(m_show_bottom_labels, Label{omath::Color::from_rgba(200, 200, 0, 255),
-                                                                 m_label_offset, m_outlined, "42m"}),
+                                                                 m_label_offset, outline_helper(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_skeleton, Skeleton{skeleton_bones, 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

@@ -17,6 +17,14 @@ namespace imgui_desktop::gui
         void Run();
 
     private:
+        struct GlowSettings
+        {
+            omath::Color color{0.f, 0.7f, 1.f, 0.8f};
+            float radius = 4.f;
+            float intensity = 0.8f;
+            bool enabled = false;
+        };
+
         void draw_controls();
         void draw_overlay();
         void present();
@@ -26,12 +34,16 @@ 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;
+        float m_entity_x = 550.f, m_entity_top_y = 150.f, m_entity_bottom_y = 450.f, m_entity_aspect = 4.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_gradient_top{0.1f, 0.6f, 1.f, 0.55f};
+        omath::Color m_box_gradient_bottom{0.7f, 0.1f, 1.f, 0.15f};
+        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_gradient_box_fill = true;
+        bool m_animate_gradients = false;
         bool m_show_box = true, m_show_cornered_box = true, m_show_dashed_box = false;
 
         // Dashed box
@@ -43,19 +55,32 @@ namespace imgui_desktop::gui
         omath::Color m_bar_bg_color{0.f, 0.f, 0.f, 0.5f};
         omath::Color m_bar_outline_color{0.f, 0.f, 0.f, 1.f};
         float m_bar_width = 4.f, m_bar_value = 0.75f, m_bar_offset = 5.f;
-        bool m_show_right_bar = true,         m_show_left_bar = true;
+        bool m_gradient_bars = true;
-        bool m_show_top_bar = true,           m_show_bottom_bar = true;
+        bool m_show_right_bar = true, m_show_left_bar = true;
+        bool m_show_top_bar = true, m_show_bottom_bar = true;
         bool m_show_right_dashed_bar = false, m_show_left_dashed_bar = false;
-        bool m_show_top_dashed_bar = false,   m_show_bottom_dashed_bar = false;
+        bool m_show_top_dashed_bar = false, m_show_bottom_dashed_bar = false;
         float m_bar_dash_len = 6.f, m_bar_dash_gap = 4.f;
 
         // Labels
         float m_label_offset = 3.f;
+        omath::Color m_label_gradient_left{0.f, 0.8f, 1.f, 1.f};
+        omath::Color m_label_gradient_right{1.f, 0.2f, 0.7f, 1.f};
         bool m_outlined = true;
+        bool m_gradient_label = true;
+        omath::hud::GradientDirection m_label_gradient_direction = omath::hud::GradientDirection::RightToLeft;
         bool m_show_right_labels = true, m_show_left_labels = true;
-        bool m_show_top_labels = true,   m_show_bottom_labels = true;
+        bool m_show_top_labels = true, m_show_bottom_labels = true;
         bool m_show_centered_top = true, m_show_centered_bottom = true;
 
+        GlowSettings m_box_glow;
+        GlowSettings m_cornered_box_glow{{1.f, 0.f, 1.f, 0.8f}};
+        GlowSettings m_bar_glow{{1.f, 0.f, 0.f, 0.8f}};
+        GlowSettings m_label_glow;
+        GlowSettings m_canvas_glow{{1.f, 0.5f, 0.f, 0.8f}, 100.f};
+        int m_canvas_glow_layers = 64;
+        float m_canvas_glow_rounding = 40.f;
+
         // Skeleton
         omath::Color m_skel_color = omath::Color::from_rgba(255, 255, 255, 200);
         float m_skel_thickness = 1.f;

examples/example_opengl_hook/CMakeLists.txt

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

examples/example_opengl_hook/dllmain.cpp

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

include/omath/3d_primitives/aabb.hpp

@@ -0,0 +1,87 @@
+//
+// Created by Vladislav on 24.03.2026.
+//
+
+#pragma once
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+
+namespace omath::primitives
+{
+    enum class UpAxis
+    {
+        X,
+        Y,
+        Z
+    };
+
+    template<class Type, UpAxis Up = UpAxis::Y>
+    struct Aabb final
+    {
+        Vector3<Type> min;
+        Vector3<Type> max;
+
+        [[nodiscard]]
+        static consteval UpAxis get_up_axis()
+        {
+            return Up;
+        }
+        [[nodiscard]]
+        constexpr Vector3<Type> center() const noexcept
+        {
+            return (min + max) / static_cast<Type>(2);
+        }
+
+        [[nodiscard]]
+        constexpr Vector3<Type> extents() const noexcept
+        {
+            return (max - min) / static_cast<Type>(2);
+        }
+
+        [[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();
+        }
+
+        [[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 std::array<Vector3<Type>, 8> vertices() const noexcept
+        {
+            return {
+                    Vector3<Type>{min.x, min.y, min.z}, Vector3<Type>{max.x, min.y, min.z},
+                    Vector3<Type>{min.x, max.y, min.z}, Vector3<Type>{max.x, max.y, min.z},
+                    Vector3<Type>{min.x, min.y, max.z}, Vector3<Type>{max.x, min.y, max.z},
+                    Vector3<Type>{min.x, max.y, max.z}, Vector3<Type>{max.x, max.y, max.z},
+            };
+        }
+
+        [[nodiscard]]
+        constexpr bool is_collide(const Aabb& other) const noexcept
+        {
+            return min.x <= other.max.x && max.x >= other.min.x && min.y <= other.max.y && max.y >= other.min.y
+                   && min.z <= other.max.z && max.z >= other.min.z;
+        }
+    };
+} // namespace omath::primitives

include/omath/3d_primitives/obb.hpp

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

include/omath/algorithm/radar.hpp

@@ -0,0 +1,42 @@
+//
+// Created by orange on 7/1/2026.
+//
+#pragma once
+#include "omath/linear_algebra/vector3.hpp"
+#include <type_traits>
+
+namespace omath::algorithm
+{
+    template<class Camera, class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard]]
+    constexpr Vector2<float> world_to_radar(const Camera& camera, const Vector3<FloatingType>& position, const FloatingType scale)
+    {
+        const auto look_at_angles = camera.calc_look_at_angles(position);
+        const auto current_angles = camera.get_view_angles();
+
+        if consteval
+        {
+            const auto right_yaw = current_angles.yaw
+                             - camera.calc_look_at_angles(camera.get_origin() + camera.get_abs_right()).yaw
+                             - decltype(current_angles.yaw)::from_degrees(90);
+            const auto sign =  right_yaw.cos() < 0 ? -1.f : 1.f;
+
+            const auto yaw = current_angles.yaw - look_at_angles.yaw - decltype(current_angles.yaw)::from_degrees(90);
+            return omath::Vector2<float>(static_cast<float>(yaw.cos()) * sign, static_cast<float>(yaw.sin()))
+               * (camera.get_origin().distance_to(position) * scale);
+        }
+        static const auto sign = [&camera, &current_angles]
+        {
+            const auto right_yaw = current_angles.yaw
+                             - camera.calc_look_at_angles(camera.get_origin() + camera.get_abs_right()).yaw
+                             - decltype(current_angles.yaw)::from_degrees(90);
+            return right_yaw.cos() < 0 ? -1.f : 1.f;
+        }();
+
+        const auto yaw = current_angles.yaw - look_at_angles.yaw - decltype(current_angles.yaw)::from_degrees(90);
+
+        return omath::Vector2<float>(static_cast<float>(yaw.cos()) * sign, static_cast<float>(yaw.sin()))
+               * (camera.get_origin().distance_to(position) * scale);
+    }
+} // namespace omath::algorithm

include/omath/collision/epa_algorithm.hpp

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

include/omath/collision/line_tracer.hpp

@@ -3,6 +3,8 @@
 //
 #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"
 
@@ -34,6 +36,8 @@ namespace omath::collision
     class LineTracer final
     {
         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;
@@ -87,6 +91,109 @@ namespace omath::collision
             return ray.start + ray_dir * t_hit;
         }
 
+        // Slab method ray-AABB intersection
+        // Returns the hit point on the AABB surface, or ray.end if no intersection
+        [[nodiscard]]
+        constexpr static auto get_ray_hit_point(const RayType& ray, const AABBType& aabb) noexcept
+        {
+            using T = typename RayType::VectorType::ContainedType;
+            const auto dir = ray.direction_vector();
+
+            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& box_min,
+                                          const T& box_max) -> bool
+            {
+                constexpr T k_epsilon = std::numeric_limits<T>::epsilon();
+                if (std::abs(d) < k_epsilon)
+                    return origin >= box_min && origin <= box_max;
+
+                const T inv = T(1) / d;
+                T t0 = (box_min - origin) * inv;
+                T t1 = (box_max - 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(dir.x, ray.start.x, aabb.min.x, aabb.max.x))
+                return ray.end;
+            if (!process_axis(dir.y, ray.start.y, aabb.min.y, aabb.max.y))
+                return ray.end;
+            if (!process_axis(dir.z, ray.start.z, aabb.min.z, aabb.max.z))
+                return ray.end;
+
+            // t_hit: use entry point if in front of origin, otherwise 0 (started inside)
+            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;
+        }
+
+        // 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>;
+    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::ZERO_TO_ONE>;
 } // namespace omath::cry_engine

include/omath/engines/cry_engine/constants.hpp

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

include/omath/engines/cry_engine/formulas.hpp

@@ -7,26 +7,87 @@
 
 namespace omath::cry_engine
 {
-    [[nodiscard]]
+    [[nodiscard("rotation matrix result should not be discarded")]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+    }
 
-    [[nodiscard]]
+    [[nodiscard("forward vector result should not be discarded")]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+    [[nodiscard("right vector result should not be discarded")]]
+    constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]]
+    [[nodiscard("up vector result should not be discarded")]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("view matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+                                                               up_vector(angles), cam_origin);
+    }
+
+    [[nodiscard("origin result should not be discarded")]]
+    constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    [[nodiscard("scale result should not be discarded")]]
+    constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard("rotation angles result should not be discarded")]]
+    constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.y),
+        };
+    }
+    [[nodiscard("perspective projection matrix result should not be discarded")]]
+    constexpr Mat4X4
+    calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near_plane,
+                                       const float far_plane,
+                                       const NDCDepthRange ndc_depth_range = NDCDepthRange::ZERO_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("centimeters value should not be discarded")]]
     constexpr FloatingType units_to_centimeters(const FloatingType& units)
     {
         return units / static_cast<FloatingType>(100);
@@ -34,7 +95,7 @@ namespace omath::cry_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("meters value should not be discarded")]]
     constexpr FloatingType units_to_meters(const FloatingType& units)
     {
         return units;
@@ -42,7 +103,7 @@ namespace omath::cry_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("kilometers value should not be discarded")]]
     constexpr FloatingType units_to_kilometers(const FloatingType& units)
     {
         return units_to_meters(units) / static_cast<FloatingType>(1000);
@@ -50,7 +111,7 @@ namespace omath::cry_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
     {
         return centimeters * static_cast<FloatingType>(100);
@@ -58,7 +119,7 @@ namespace omath::cry_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType meters_to_units(const FloatingType& meters)
     {
         return meters;
@@ -66,7 +127,7 @@ namespace omath::cry_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
     {
         return meters_to_units(kilometers * static_cast<FloatingType>(1000));

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

@@ -4,21 +4,36 @@
 
 #pragma once
 #include "omath/engines/cry_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
-
 namespace omath::cry_engine
 {
     class CameraTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("look-at angle result should not be discarded")]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
+            return {PitchAngle::from_radians(internal::asin(direction.z)),
+                    YawAngle::from_radians(-internal::atan2(direction.x, direction.y)), RollAngle::from_radians(0.f)};
+        }
 
-        [[nodiscard]]
+        [[nodiscard("view matrix result should not be discarded")]]
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
-        [[nodiscard]]
+        {
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+            return cry_engine::calc_view_matrix(angles, cam_origin);
-                                             float near, float far) noexcept;
+        }
+        [[nodiscard("projection matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::cry_engine

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

@@ -10,7 +10,7 @@ namespace omath::cry_engine
     class MeshTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("rotation matrix result should not be discarded")]]
         static Mat4X4 rotation_matrix(const ViewAngles& rotation)
         {
             return cry_engine::rotation_matrix(rotation);

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

@@ -12,7 +12,8 @@ namespace omath::cry_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        [[nodiscard("projectile position result should not be discarded")]]
+        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
         {
@@ -25,8 +26,8 @@ namespace omath::cry_engine
 
             return current_pos;
         }
-        [[nodiscard]]
+        [[nodiscard("target position result should not be discarded")]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -36,20 +37,20 @@ namespace omath::cry_engine
 
             return predicted;
         }
-        [[nodiscard]]
+        [[nodiscard("2d distance result should not be discarded")]]
         static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
         {
             return std::sqrt(delta.x * delta.x + delta.y * delta.y);
         }
 
-        [[nodiscard]]
+        [[nodiscard("height coordinate result should not be discarded")]]
         constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
         {
             return vec.z;
         }
 
-        [[nodiscard]]
+        [[nodiscard("viewpoint result should not be discarded")]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {
@@ -60,13 +61,13 @@ namespace omath::cry_engine
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down
-        [[nodiscard]]
+        [[nodiscard("pitch angle result should not be discarded")]]
         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]]
+        [[nodiscard("yaw angle result should not be discarded")]]
         static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
             const auto direction = (view_to - origin).normalized();

include/omath/engines/frostbite_engine/camera.hpp

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

include/omath/engines/frostbite_engine/formulas.hpp

@@ -7,26 +7,91 @@
 
 namespace omath::frostbite_engine
 {
-    [[nodiscard]]
+    [[nodiscard("rotation matrix result should not be discarded")]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
-    [[nodiscard]]
+    [[nodiscard("forward vector result should not be discarded")]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+    [[nodiscard("right vector result should not be discarded")]]
+    constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]]
+    [[nodiscard("up vector result should not be discarded")]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("view matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+                                                               up_vector(angles), cam_origin);
+    }
+
+    [[nodiscard("rotation matrix result should not be discarded")]]
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+    }
+
+    [[nodiscard("origin result should not be discarded")]]
+    constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    [[nodiscard("scale result should not be discarded")]]
+    constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard("rotation angles result should not be discarded")]]
+    constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.y),
+                RollAngle::from_degrees(angles.z),
+        };
+    }
+
+    [[nodiscard("perspective projection matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_perspective_projection_matrix(
+            const float field_of_view, const float aspect_ratio, const float near_plane, const float far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("centimeters value should not be discarded")]]
     constexpr FloatingType units_to_centimeters(const FloatingType& units)
     {
         return units / static_cast<FloatingType>(100);
@@ -34,7 +99,7 @@ namespace omath::frostbite_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("meters value should not be discarded")]]
     constexpr FloatingType units_to_meters(const FloatingType& units)
     {
         return units;
@@ -42,7 +107,7 @@ namespace omath::frostbite_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("kilometers value should not be discarded")]]
     constexpr FloatingType units_to_kilometers(const FloatingType& units)
     {
         return units_to_meters(units) / static_cast<FloatingType>(1000);
@@ -50,7 +115,7 @@ namespace omath::frostbite_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
     {
         return centimeters * static_cast<FloatingType>(100);
@@ -58,7 +123,7 @@ namespace omath::frostbite_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType meters_to_units(const FloatingType& meters)
     {
         return meters;
@@ -66,7 +131,7 @@ namespace omath::frostbite_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
     {
         return meters_to_units(kilometers * static_cast<FloatingType>(1000));

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

@@ -4,6 +4,7 @@
 
 #pragma once
 #include "omath/engines/frostbite_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::frostbite_engine
@@ -11,14 +12,30 @@ namespace omath::frostbite_engine
     class CameraTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("look-at angle result should not be discarded")]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
 
-        [[nodiscard]]
+            return {PitchAngle::from_radians(-internal::asin(direction.y)),
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+                    YawAngle::from_radians(internal::atan2(direction.x, direction.z)), RollAngle::from_radians(0.f)};
-        [[nodiscard]]
+        }
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+
-                                             float near, float far) noexcept;
+        [[nodiscard("view matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return frostbite_engine::calc_view_matrix(angles, cam_origin);
+        }
+        [[nodiscard("projection matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
-} // namespace omath::unreal_engine
+} // namespace omath::frostbite_engine

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

@@ -10,7 +10,7 @@ namespace omath::frostbite_engine
     class MeshTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("rotation matrix result should not be discarded")]]
         static Mat4X4 rotation_matrix(const ViewAngles& rotation)
         {
             return frostbite_engine::rotation_matrix(rotation);

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

@@ -12,7 +12,8 @@ namespace omath::frostbite_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        [[nodiscard("projectile position result should not be discarded")]]
+        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
         {
@@ -25,8 +26,8 @@ namespace omath::frostbite_engine
 
             return current_pos;
         }
-        [[nodiscard]]
+        [[nodiscard("target position result should not be discarded")]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -36,20 +37,20 @@ namespace omath::frostbite_engine
 
             return predicted;
         }
-        [[nodiscard]]
+        [[nodiscard("2d distance result should not be discarded")]]
         static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
         {
             return std::sqrt(delta.x * delta.x + delta.z * delta.z);
         }
 
-        [[nodiscard]]
+        [[nodiscard("height coordinate result should not be discarded")]]
         constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
         {
             return vec.y;
         }
 
-        [[nodiscard]]
+        [[nodiscard("viewpoint result should not be discarded")]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {
@@ -60,13 +61,13 @@ namespace omath::frostbite_engine
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down
-        [[nodiscard]]
+        [[nodiscard("pitch angle result should not be discarded")]]
         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.y));
         }
-        [[nodiscard]]
+        [[nodiscard("yaw angle result should not be discarded")]]
         static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
             const auto direction = (view_to - origin).normalized();

include/omath/engines/iw_engine/camera.hpp

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

include/omath/engines/iw_engine/formulas.hpp

@@ -7,26 +7,89 @@
 
 namespace omath::iw_engine
 {
-    [[nodiscard]]
+    [[nodiscard("rotation matrix result should not be discarded")]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
-    [[nodiscard]]
+    [[nodiscard("forward vector result should not be discarded")]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]]
+    [[nodiscard("right vector result should not be discarded")]]
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
 
-    [[nodiscard]]
+    [[nodiscard("up vector result should not be discarded")]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("rotation matrix result should not be discarded")]]
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z(angles.yaw) * mat_rotation_axis_y(angles.pitch) * mat_rotation_axis_x(angles.roll);
+    }
+
+    [[nodiscard("origin result should not be discarded")]]
+    constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    [[nodiscard("scale result should not be discarded")]]
+    constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard("rotation angles result should not be discarded")]]
+    constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.y),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.x),
+        };
+    }
+
+    [[nodiscard("view matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view(forward_vector(angles), right_vector(angles), up_vector(angles), cam_origin);
+    }
+
+    [[nodiscard("perspective projection matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_perspective_projection_matrix(
+            const float field_of_view, const float aspect_ratio, const float near_plane, const float far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        constexpr float k_source_reference_aspect = 4.f / 3.f;
+        const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);
+
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    vertical_fov, aspect_ratio, near_plane, far_plane);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    vertical_fov, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("centimeters value should not be discarded")]]
     constexpr FloatingType units_to_centimeters(const FloatingType& units)
     {
         constexpr auto centimeter_in_unit = static_cast<FloatingType>(2.54);
@@ -35,7 +98,7 @@ namespace omath::iw_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("meters value should not be discarded")]]
     constexpr FloatingType units_to_meters(const FloatingType& units)
     {
         return units_to_centimeters(units) / static_cast<FloatingType>(100);
@@ -43,7 +106,7 @@ namespace omath::iw_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("kilometers value should not be discarded")]]
     constexpr FloatingType units_to_kilometers(const FloatingType& units)
     {
         return units_to_meters(units) / static_cast<FloatingType>(1000);
@@ -51,7 +114,7 @@ namespace omath::iw_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
     {
         constexpr auto centimeter_in_unit = static_cast<FloatingType>(2.54);
@@ -60,7 +123,7 @@ namespace omath::iw_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType meters_to_units(const FloatingType& meters)
     {
         return centimeters_to_units(meters * static_cast<FloatingType>(100));
@@ -68,7 +131,7 @@ namespace omath::iw_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
     {
         return meters_to_units(kilometers * static_cast<FloatingType>(1000));

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

@@ -3,7 +3,8 @@
 //
 
 #pragma once
-#include "omath/engines/iw_engine/constants.hpp"
+#include "omath/engines/iw_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::iw_engine
@@ -11,14 +12,30 @@ namespace omath::iw_engine
     class CameraTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("look-at angle result should not be discarded")]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
 
-        [[nodiscard]]
+            return {PitchAngle::from_radians(-internal::asin(direction.z)),
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+                    YawAngle::from_radians(internal::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
-        [[nodiscard]]
+        }
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+
-                                             float near, float far) noexcept;
+        [[nodiscard("view matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return iw_engine::calc_view_matrix(angles, cam_origin);
+        }
+        [[nodiscard("projection matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::iw_engine

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

@@ -10,7 +10,7 @@ namespace omath::iw_engine
     class MeshTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("rotation matrix result should not be discarded")]]
         static Mat4X4 rotation_matrix(const ViewAngles& rotation)
         {
             return iw_engine::rotation_matrix(rotation);

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

@@ -13,7 +13,8 @@ namespace omath::iw_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        [[nodiscard("projectile position result should not be discarded")]]
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile<float>& projectile,
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
@@ -26,8 +27,8 @@ namespace omath::iw_engine
 
             return current_pos;
         }
-        [[nodiscard]]
+        [[nodiscard("target position result should not be discarded")]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -37,20 +38,20 @@ namespace omath::iw_engine
 
             return predicted;
         }
-        [[nodiscard]]
+        [[nodiscard("2d distance result should not be discarded")]]
         static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
         {
             return std::sqrt(delta.x * delta.x + delta.y * delta.y);
         }
 
-        [[nodiscard]]
+        [[nodiscard("height coordinate result should not be discarded")]]
         constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
         {
             return vec.z;
         }
 
-        [[nodiscard]]
+        [[nodiscard("viewpoint result should not be discarded")]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {
@@ -61,7 +62,7 @@ namespace omath::iw_engine
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down
-        [[nodiscard]]
+        [[nodiscard("pitch angle result should not be discarded")]]
         static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
             const auto distance = origin.distance_to(view_to);
@@ -69,7 +70,7 @@ namespace omath::iw_engine
 
             return angles::radians_to_degrees(std::asin(delta.z / distance));
         }
-        [[nodiscard]]
+        [[nodiscard("yaw angle result should not be discarded")]]
         static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
             const auto delta = view_to - origin;

include/omath/engines/opengl_engine/camera.hpp

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

include/omath/engines/opengl_engine/formulas.hpp

@@ -6,26 +6,93 @@
 
 namespace omath::opengl_engine
 {
-    [[nodiscard]]
+    [[nodiscard("rotation matrix result should not be discarded")]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
-    [[nodiscard]]
+    [[nodiscard("forward vector result should not be discarded")]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec =
+                rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_forward);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+    [[nodiscard("right vector result should not be discarded")]]
+    constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec =
+                rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_right);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]]
+    [[nodiscard("up vector result should not be discarded")]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector<float, MatStoreType::COLUMN_MAJOR>(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("view matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_look_at_right_handed(cam_origin, cam_origin + forward_vector(angles), up_vector(angles));
+    }
+
+    [[nodiscard("rotation matrix result should not be discarded")]]
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::COLUMN_MAJOR>(angles.roll)
+               * mat_rotation_axis_y<float, MatStoreType::COLUMN_MAJOR>(angles.yaw)
+               * mat_rotation_axis_x<float, MatStoreType::COLUMN_MAJOR>(angles.pitch);
+    }
+
+    [[nodiscard("origin result should not be discarded")]]
+    constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    [[nodiscard("scale result should not be discarded")]]
+    constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard("rotation angles result should not be discarded")]]
+    constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.y),
+                RollAngle::from_degrees(angles.z),
+        };
+    }
+
+    [[nodiscard("perspective projection matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_perspective_projection_matrix(
+            const float field_of_view, const float aspect_ratio, const float near_plane, const float far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_right_handed_vertical_fov<float, MatStoreType::COLUMN_MAJOR,
+                                                             NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_right_handed_vertical_fov<float, MatStoreType::COLUMN_MAJOR,
+                                                             NDCDepthRange::ZERO_TO_ONE>(field_of_view, aspect_ratio,
+                                                                                         near_plane, far_plane);
+
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("centimeters value should not be discarded")]]
     constexpr FloatingType units_to_centimeters(const FloatingType& units)
     {
         return units / static_cast<FloatingType>(100);
@@ -33,7 +100,7 @@ namespace omath::opengl_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("meters value should not be discarded")]]
     constexpr FloatingType units_to_meters(const FloatingType& units)
     {
         return units;
@@ -41,7 +108,7 @@ namespace omath::opengl_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("kilometers value should not be discarded")]]
     constexpr FloatingType units_to_kilometers(const FloatingType& units)
     {
         return units_to_meters(units) / static_cast<FloatingType>(1000);
@@ -49,7 +116,7 @@ namespace omath::opengl_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
     {
         return centimeters * static_cast<FloatingType>(100);
@@ -57,7 +124,7 @@ namespace omath::opengl_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType meters_to_units(const FloatingType& meters)
     {
         return meters;
@@ -65,7 +132,7 @@ namespace omath::opengl_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
     {
         return meters_to_units(kilometers * static_cast<FloatingType>(1000));

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

@@ -3,7 +3,8 @@
 //
 
 #pragma once
-#include "omath/engines/opengl_engine/constants.hpp"
+#include "omath/engines/opengl_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::opengl_engine
@@ -11,14 +12,30 @@ namespace omath::opengl_engine
     class CameraTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("look-at angle result should not be discarded")]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
 
-        [[nodiscard]]
+            return {PitchAngle::from_radians(internal::asin(direction.y)),
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+                    YawAngle::from_radians(-internal::atan2(direction.x, -direction.z)), RollAngle::from_radians(0.f)};
-        [[nodiscard]]
+        }
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+
-                                             float near, float far) noexcept;
+        [[nodiscard("view matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return opengl_engine::calc_view_matrix(angles, cam_origin);
+        }
+        [[nodiscard("projection matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::opengl_engine

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

@@ -10,7 +10,7 @@ namespace omath::opengl_engine
     class MeshTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("rotation matrix result should not be discarded")]]
         static Mat4X4 rotation_matrix(const ViewAngles& rotation)
         {
             return opengl_engine::rotation_matrix(rotation);

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

@@ -12,7 +12,8 @@ namespace omath::opengl_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        [[nodiscard("projectile position result should not be discarded")]]
+        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
         {
@@ -25,8 +26,8 @@ namespace omath::opengl_engine
 
             return current_pos;
         }
-        [[nodiscard]]
+        [[nodiscard("target position result should not be discarded")]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -36,20 +37,20 @@ namespace omath::opengl_engine
 
             return predicted;
         }
-        [[nodiscard]]
+        [[nodiscard("2d distance result should not be discarded")]]
         static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
         {
             return std::sqrt(delta.x * delta.x + delta.z * delta.z);
         }
 
-        [[nodiscard]]
+        [[nodiscard("height coordinate result should not be discarded")]]
         constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
         {
             return vec.y;
         }
 
-        [[nodiscard]]
+        [[nodiscard("viewpoint result should not be discarded")]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {
@@ -60,13 +61,13 @@ namespace omath::opengl_engine
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down
-        [[nodiscard]]
+        [[nodiscard("pitch angle result should not be discarded")]]
         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.y));
         }
-        [[nodiscard]]
+        [[nodiscard("yaw angle result should not be discarded")]]
         static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
             const auto direction = (view_to - origin).normalized();

include/omath/engines/rage_engine/camera.hpp

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

@@ -0,0 +1,25 @@
+//
+// 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

@@ -0,0 +1,140 @@
+//
+// Created by Orange on 6/3/2026.
+//
+
+#pragma once
+#include "omath/engines/rage_engine/constants.hpp"
+#include <type_traits>
+
+namespace omath::rage_engine
+{
+    [[nodiscard("rotation matrix result should not be discarded")]]
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+
+    [[nodiscard("forward vector result should not be discarded")]]
+    constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("right vector result should not be discarded")]]
+    constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("up vector result should not be discarded")]]
+    constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("view matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+                                                               up_vector(angles), cam_origin);
+    }
+
+    [[nodiscard("rotation matrix result should not be discarded")]]
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+    }
+
+    [[nodiscard("origin result should not be discarded")]]
+    constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    [[nodiscard("scale result should not be discarded")]]
+    constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard("rotation angles result should not be discarded")]]
+    constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.y),
+        };
+    }
+
+    [[nodiscard("perspective projection matrix result should not be discarded")]]
+    constexpr Mat4X4
+    calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near_plane,
+                                       const float far_plane,
+                                       const NDCDepthRange ndc_depth_range = NDCDepthRange::ZERO_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard("centimeters value should not be discarded")]]
+    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("meters value should not be discarded")]]
+    constexpr FloatingType units_to_meters(const FloatingType& units)
+    {
+        return units;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard("kilometers value should not be discarded")]]
+    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("units value should not be discarded")]]
+    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("units value should not be discarded")]]
+    constexpr FloatingType meters_to_units(const FloatingType& meters)
+    {
+        return meters;
+    }
+
+    template<class FloatingType>
+    requires std::is_floating_point_v<FloatingType>
+    [[nodiscard("units value should not be discarded")]]
+    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

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

@@ -0,0 +1,41 @@
+//
+// Created by Orange on 6/3/2026.
+//
+
+#pragma once
+#include "omath/engines/rage_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::rage_engine
+{
+    class CameraTrait final
+    {
+    public:
+        [[nodiscard("look-at angle result should not be discarded")]]
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
+
+            return {PitchAngle::from_radians(internal::asin(direction.z)),
+                    YawAngle::from_radians(-internal::atan2(direction.x, direction.y)), RollAngle::from_radians(0.f)};
+        }
+
+        [[nodiscard("view matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return rage_engine::calc_view_matrix(angles, cam_origin);
+        }
+        [[nodiscard("projection matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
+    };
+
+} // namespace omath::rage_engine

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

@@ -0,0 +1,20 @@
+//
+// 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("rotation matrix result should not be discarded")]]
+        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

@@ -0,0 +1,77 @@
+//
+// 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:
+        [[nodiscard("projectile position result should not be discarded")]]
+        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("target position result should not be discarded")]]
+        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("2d distance result should not be discarded")]]
+        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
+        {
+            return std::sqrt(delta.x * delta.x + delta.y * delta.y);
+        }
+
+        [[nodiscard("height coordinate result should not be discarded")]]
+        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
+        {
+            return vec.z;
+        }
+
+        [[nodiscard("viewpoint result should not be discarded")]]
+        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("pitch angle result should not be discarded")]]
+        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("yaw angle result should not be discarded")]]
+        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>;
+    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, NDCDepthRange::ZERO_TO_ONE>;
 } // namespace omath::source_engine

include/omath/engines/source_engine/formulas.hpp

@@ -6,26 +6,89 @@
 
 namespace omath::source_engine
 {
-    [[nodiscard]]
+    [[nodiscard("rotation matrix result should not be discarded")]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
-    [[nodiscard]]
+    [[nodiscard("forward vector result should not be discarded")]]
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]]
+    [[nodiscard("rotation matrix result should not be discarded")]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z(angles.yaw) * mat_rotation_axis_y(angles.pitch) * mat_rotation_axis_x(angles.roll);
+    }
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+    [[nodiscard("origin result should not be discarded")]]
+    constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
 
-    [[nodiscard]]
+    [[nodiscard("scale result should not be discarded")]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard("rotation angles result should not be discarded")]]
+    constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.y),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.x),
+        };
+    }
+
+    [[nodiscard("right vector result should not be discarded")]]
+    constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("up vector result should not be discarded")]]
+    constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("view matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view(forward_vector(angles), right_vector(angles), up_vector(angles), cam_origin);
+    }
+
+    [[nodiscard("perspective projection matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_perspective_projection_matrix(
+            const float field_of_view, const float aspect_ratio, const float near_plane, const float far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        constexpr float k_source_reference_aspect = 4.f / 3.f;
+        const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);
+
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+                    vertical_fov, aspect_ratio, near_plane, far_plane);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                            NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    vertical_fov, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("centimeters value should not be discarded")]]
     constexpr FloatingType units_to_centimeters(const FloatingType& units)
     {
         constexpr auto centimeter_in_unit = static_cast<FloatingType>(2.54);
@@ -34,7 +97,7 @@ namespace omath::source_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("meters value should not be discarded")]]
     constexpr FloatingType units_to_meters(const FloatingType& units)
     {
         return units_to_centimeters(units) / static_cast<FloatingType>(100);
@@ -42,7 +105,7 @@ namespace omath::source_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("kilometers value should not be discarded")]]
     constexpr FloatingType units_to_kilometers(const FloatingType& units)
     {
         return units_to_meters(units) / static_cast<FloatingType>(1000);
@@ -50,7 +113,7 @@ namespace omath::source_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
     {
         constexpr auto centimeter_in_unit = static_cast<FloatingType>(2.54);
@@ -59,7 +122,7 @@ namespace omath::source_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType meters_to_units(const FloatingType& meters)
     {
         return centimeters_to_units(meters * static_cast<FloatingType>(100));
@@ -67,7 +130,7 @@ namespace omath::source_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
     {
         return meters_to_units(kilometers * static_cast<FloatingType>(1000));

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

@@ -3,7 +3,8 @@
 //
 
 #pragma once
-#include "omath/engines/source_engine/constants.hpp"
+#include "omath/engines/source_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::source_engine
@@ -11,14 +12,30 @@ namespace omath::source_engine
     class CameraTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("look-at angle result should not be discarded")]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
 
-        [[nodiscard]]
+            return {PitchAngle::from_radians(-internal::asin(direction.z)),
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+                    YawAngle::from_radians(internal::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
-        [[nodiscard]]
+        }
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+
-                                             float near, float far) noexcept;
+        [[nodiscard("view matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return source_engine::calc_view_matrix(angles, cam_origin);
+        }
+        [[nodiscard("projection matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::source_engine

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

@@ -10,7 +10,7 @@ namespace omath::source_engine
     class MeshTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("rotation matrix result should not be discarded")]]
         static Mat4X4 rotation_matrix(const ViewAngles& rotation)
         {
             return source_engine::rotation_matrix(rotation);

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

@@ -13,7 +13,8 @@ namespace omath::source_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        [[nodiscard("projectile position result should not be discarded")]]
+        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile<float>& projectile,
                                                                     const float pitch, const float yaw,
                                                                     const float time, const float gravity) noexcept
         {
@@ -26,8 +27,8 @@ namespace omath::source_engine
 
             return current_pos;
         }
-        [[nodiscard]]
+        [[nodiscard("target position result should not be discarded")]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -37,20 +38,20 @@ namespace omath::source_engine
 
             return predicted;
         }
-        [[nodiscard]]
+        [[nodiscard("2d distance result should not be discarded")]]
         static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
         {
             return std::sqrt(delta.x * delta.x + delta.y * delta.y);
         }
 
-        [[nodiscard]]
+        [[nodiscard("height coordinate result should not be discarded")]]
         constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
         {
             return vec.z;
         }
 
-        [[nodiscard]]
+        [[nodiscard("viewpoint result should not be discarded")]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {
@@ -61,7 +62,7 @@ namespace omath::source_engine
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down
-        [[nodiscard]]
+        [[nodiscard("pitch angle result should not be discarded")]]
         static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
             const auto distance = origin.distance_to(view_to);
@@ -69,7 +70,7 @@ namespace omath::source_engine
 
             return angles::radians_to_degrees(std::asin(delta.z / distance));
         }
-        [[nodiscard]]
+        [[nodiscard("yaw angle result should not be discarded")]]
         static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
             const auto delta = view_to - origin;

include/omath/engines/unity_engine/camera.hpp

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

include/omath/engines/unity_engine/formulas.hpp

@@ -7,26 +7,90 @@
 
 namespace omath::unity_engine
 {
-    [[nodiscard]]
+    [[nodiscard("rotation matrix result should not be discarded")]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
-    [[nodiscard]]
+    [[nodiscard("forward vector result should not be discarded")]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    constexpr Vector3<float> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+    [[nodiscard("right vector result should not be discarded")]]
+    constexpr Vector3<float> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]]
+    [[nodiscard("up vector result should not be discarded")]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    constexpr Vector3<float> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("view matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+    {
+        return mat_camera_view<float, MatStoreType::ROW_MAJOR>(-forward_vector(angles), right_vector(angles),
+                                                               up_vector(angles), cam_origin);
+    }
+
+    [[nodiscard("rotation matrix result should not be discarded")]]
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<float, MatStoreType::ROW_MAJOR>(angles.roll)
+               * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
+    }
+
+    [[nodiscard("origin result should not be discarded")]]
+    constexpr Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    [[nodiscard("scale result should not be discarded")]]
+    constexpr Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard("rotation angles result should not be discarded")]]
+    constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.y),
+                RollAngle::from_degrees(angles.z),
+        };
+    }
+
+    [[nodiscard("perspective projection matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_perspective_projection_matrix(
+            const float field_of_view, const float aspect_ratio, const float near_plane, const float far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return omath::mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                                    NDCDepthRange::ZERO_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return omath::mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
+                                                                    NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("centimeters value should not be discarded")]]
     constexpr FloatingType units_to_centimeters(const FloatingType& units)
     {
         return units / static_cast<FloatingType>(100);
@@ -34,7 +98,7 @@ namespace omath::unity_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("meters value should not be discarded")]]
     constexpr FloatingType units_to_meters(const FloatingType& units)
     {
         return units;
@@ -42,7 +106,7 @@ namespace omath::unity_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("kilometers value should not be discarded")]]
     constexpr FloatingType units_to_kilometers(const FloatingType& units)
     {
         return units_to_meters(units) / static_cast<FloatingType>(1000);
@@ -50,7 +114,7 @@ namespace omath::unity_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
     {
         return centimeters * static_cast<FloatingType>(100);
@@ -58,7 +122,7 @@ namespace omath::unity_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType meters_to_units(const FloatingType& meters)
     {
         return meters;
@@ -66,7 +130,7 @@ namespace omath::unity_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
     {
         return meters_to_units(kilometers * static_cast<FloatingType>(1000));

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

@@ -4,6 +4,7 @@
 
 #pragma once
 #include "omath/engines/unity_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::unity_engine
@@ -11,14 +12,30 @@ namespace omath::unity_engine
     class CameraTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("look-at angle result should not be discarded")]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin,
+                                                       const Vector3<float>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
 
-        [[nodiscard]]
+            return {PitchAngle::from_radians(-internal::asin(direction.y)),
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+                    YawAngle::from_radians(internal::atan2(direction.x, direction.z)), RollAngle::from_radians(0.f)};
-        [[nodiscard]]
+        }
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+
-                                             float near, float far) noexcept;
+        [[nodiscard("view matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
+        {
+            return unity_engine::calc_view_matrix(angles, cam_origin);
+        }
+        [[nodiscard("projection matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
+                                                       const projection::ViewPort& view_port, const float near_plane,
+                                                       const float far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::unity_engine

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

@@ -10,7 +10,7 @@ namespace omath::unity_engine
     class MeshTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("rotation matrix result should not be discarded")]]
         static Mat4X4 rotation_matrix(const ViewAngles& rotation)
         {
             return unity_engine::rotation_matrix(rotation);

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

@@ -12,7 +12,8 @@ namespace omath::unity_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        [[nodiscard("projectile position result should not be discarded")]]
+        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
         {
@@ -25,8 +26,8 @@ namespace omath::unity_engine
 
             return current_pos;
         }
-        [[nodiscard]]
+        [[nodiscard("target position result should not be discarded")]]
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
                                                                 const float time, const float gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
@@ -36,20 +37,20 @@ namespace omath::unity_engine
 
             return predicted;
         }
-        [[nodiscard]]
+        [[nodiscard("2d distance result should not be discarded")]]
         static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
         {
             return std::sqrt(delta.x * delta.x + delta.z * delta.z);
         }
 
-        [[nodiscard]]
+        [[nodiscard("height coordinate result should not be discarded")]]
         constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
         {
             return vec.y;
         }
 
-        [[nodiscard]]
+        [[nodiscard("viewpoint result should not be discarded")]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
                                                          Vector3<float> predicted_target_position,
                                                          const std::optional<float> projectile_pitch) noexcept
         {
@@ -60,13 +61,13 @@ namespace omath::unity_engine
         }
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down
-        [[nodiscard]]
+        [[nodiscard("pitch angle result should not be discarded")]]
         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.y));
         }
-        [[nodiscard]]
+        [[nodiscard("yaw angle result should not be discarded")]]
         static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
         {
             const auto direction = (view_to - origin).normalized();

include/omath/engines/unreal_engine/camera.hpp

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

include/omath/engines/unreal_engine/constants.hpp

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

include/omath/engines/unreal_engine/formulas.hpp

@@ -7,26 +7,90 @@
 
 namespace omath::unreal_engine
 {
-    [[nodiscard]]
+    [[nodiscard("rotation matrix result should not be discarded")]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
-    [[nodiscard]]
+    [[nodiscard("forward vector result should not be discarded")]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    constexpr Vector3<double> forward_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+    [[nodiscard("right vector result should not be discarded")]]
+    constexpr Vector3<double> right_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
 
-    [[nodiscard]]
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
-    Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+    }
 
-    [[nodiscard]]
+    [[nodiscard("up vector result should not be discarded")]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    constexpr Vector3<double> up_vector(const ViewAngles& angles) noexcept
+    {
+        const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+        return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+    }
+
+    [[nodiscard("view matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept
+    {
+        return mat_camera_view<double, MatStoreType::ROW_MAJOR>(forward_vector(angles), right_vector(angles),
+                                                                up_vector(angles), cam_origin);
+    }
+
+    [[nodiscard("rotation matrix result should not be discarded")]]
+    constexpr Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+    {
+        return mat_rotation_axis_z<double, MatStoreType::ROW_MAJOR>(angles.yaw)
+               * mat_rotation_axis_y<double, MatStoreType::ROW_MAJOR>(-angles.pitch)
+               * mat_rotation_axis_x<double, MatStoreType::ROW_MAJOR>(-angles.roll);
+    }
+
+    [[nodiscard("origin result should not be discarded")]]
+    constexpr Vector3<double> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    [[nodiscard("scale result should not be discarded")]]
+    constexpr Vector3<double> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    [[nodiscard("rotation angles result should not be discarded")]]
+    constexpr ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(-angles.y),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(-angles.x),
+        };
+    }
+
+    [[nodiscard("perspective projection matrix result should not be discarded")]]
+    constexpr Mat4X4 calc_perspective_projection_matrix(
+            const double field_of_view, const double aspect_ratio, const double near_plane, const double far_plane,
+            const NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept
+    {
+        if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
+            return mat_perspective_left_handed_horizontal_fov<double, MatStoreType::ROW_MAJOR,
+                                                              NDCDepthRange::ZERO_TO_ONE>(field_of_view, aspect_ratio,
+                                                                                          near_plane, far_plane);
+        if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return mat_perspective_left_handed_horizontal_fov<double, MatStoreType::ROW_MAJOR,
+                                                              NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+                    field_of_view, aspect_ratio, near_plane, far_plane);
+        std::unreachable();
+    }
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("centimeters value should not be discarded")]]
     constexpr FloatingType units_to_centimeters(const FloatingType& units)
     {
         return units;
@@ -34,7 +98,7 @@ namespace omath::unreal_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("meters value should not be discarded")]]
     constexpr FloatingType units_to_meters(const FloatingType& units)
     {
         return units / static_cast<FloatingType>(100);
@@ -42,7 +106,7 @@ namespace omath::unreal_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("kilometers value should not be discarded")]]
     constexpr FloatingType units_to_kilometers(const FloatingType& units)
     {
         return units_to_meters(units) / static_cast<FloatingType>(1000);
@@ -50,7 +114,7 @@ namespace omath::unreal_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType centimeters_to_units(const FloatingType& centimeters)
     {
         return centimeters;
@@ -58,7 +122,7 @@ namespace omath::unreal_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType meters_to_units(const FloatingType& meters)
     {
         return meters * static_cast<FloatingType>(100);
@@ -66,7 +130,7 @@ namespace omath::unreal_engine
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>
-    [[nodiscard]]
+    [[nodiscard("units value should not be discarded")]]
     constexpr FloatingType kilometers_to_units(const FloatingType& kilometers)
     {
         return meters_to_units(kilometers * static_cast<FloatingType>(1000));

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

@@ -4,6 +4,7 @@
 
 #pragma once
 #include "omath/engines/unreal_engine/formulas.hpp"
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/projection/camera.hpp"
 
 namespace omath::unreal_engine
@@ -11,14 +12,30 @@ namespace omath::unreal_engine
     class CameraTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("look-at angle result should not be discarded")]]
-        static ViewAngles calc_look_at_angle(const Vector3<float>& cam_origin, const Vector3<float>& look_at) noexcept;
+        constexpr static ViewAngles calc_look_at_angle(const Vector3<double>& cam_origin,
+                                                       const Vector3<double>& look_at) noexcept
+        {
+            const auto direction = (look_at - cam_origin).normalized();
 
-        [[nodiscard]]
+            return {PitchAngle::from_radians(internal::asin(direction.z)),
-        static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+                    YawAngle::from_radians(internal::atan2(direction.y, direction.x)), RollAngle::from_radians(0.f)};
-        [[nodiscard]]
+        }
-        static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+
-                                             float near, float far) noexcept;
+        [[nodiscard("view matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept
+        {
+            return unreal_engine::calc_view_matrix(angles, cam_origin);
+        }
+        [[nodiscard("projection matrix result should not be discarded")]]
+        constexpr static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov,
+                                                       const projection::ViewPort& view_port, const double near_plane,
+                                                       const double far_plane,
+                                                       const NDCDepthRange ndc_depth_range) noexcept
+        {
+            return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near_plane, far_plane,
+                                                      ndc_depth_range);
+        }
     };
 
 } // namespace omath::unreal_engine

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

@@ -10,7 +10,7 @@ namespace omath::unreal_engine
     class MeshTrait final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("rotation matrix result should not be discarded")]]
         static Mat4X4 rotation_matrix(const ViewAngles& rotation)
         {
             return unreal_engine::rotation_matrix(rotation);

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

@@ -12,67 +12,73 @@ namespace omath::unreal_engine
     class PredEngineTrait final
     {
     public:
-        constexpr static Vector3<float> predict_projectile_position(const projectile_prediction::Projectile& projectile,
+        [[nodiscard("projectile position result should not be discarded")]]
-                                                                    const float pitch, const float yaw,
+        static Vector3<double> predict_projectile_position(const projectile_prediction::Projectile<double>& projectile,
-                                                                    const float time, const float gravity) noexcept
+                                                           const double pitch, const double yaw,
+                                                           const double time, const double gravity) noexcept
         {
             const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            const auto fwd_d = forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                                               RollAngle::from_degrees(0)});
             auto current_pos = launch_pos
-                               + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                               + Vector3<double>{fwd_d.x, fwd_d.y, fwd_d.z}
-                                                 RollAngle::from_degrees(0)})
                                          * projectile.m_launch_speed * time;
-            current_pos.y -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
+            current_pos.y -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5;
 
             return current_pos;
         }
-        [[nodiscard]]
+
-        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target& target,
+        [[nodiscard("target position result should not be discarded")]]
-                                                                const float time, const float gravity) noexcept
+        static Vector3<double> predict_target_position(const projectile_prediction::Target<double>& target,
+                                                       const double time, const double gravity) noexcept
         {
             auto predicted = target.m_origin + target.m_velocity * time;
 
             if (target.m_is_airborne)
-                predicted.y -= gravity * (time * time) * 0.5f;
+                predicted.y -= gravity * (time * time) * 0.5;
 
             return predicted;
         }
-        [[nodiscard]]
+
-        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
+        [[nodiscard("2d distance result should not be discarded")]]
+        static double calc_vector_2d_distance(const Vector3<double>& delta) noexcept
         {
             return std::sqrt(delta.x * delta.x + delta.z * delta.z);
         }
 
-        [[nodiscard]]
+        [[nodiscard("height coordinate result should not be discarded")]]
-        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
+        static double get_vector_height_coordinate(const Vector3<double>& vec) noexcept
         {
             return vec.y;
         }
 
-        [[nodiscard]]
+        [[nodiscard("viewpoint result should not be discarded")]]
-        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+        static Vector3<double> calc_viewpoint_from_angles(const projectile_prediction::Projectile<double>& projectile,
-                                                         Vector3<float> predicted_target_position,
+                                                          Vector3<double> predicted_target_position,
-                                                         const std::optional<float> projectile_pitch) noexcept
+                                                          const std::optional<double> projectile_pitch) noexcept
         {
             const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
             const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
 
             return {predicted_target_position.x, predicted_target_position.y, projectile.m_origin.z + height};
         }
+
         // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
         // 89 look up, -89 look down
-        [[nodiscard]]
+        [[nodiscard("pitch angle result should not be discarded")]]
-        static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        static double calc_direct_pitch_angle(const Vector3<double>& origin, const Vector3<double>& view_to) noexcept
         {
             const auto direction = (view_to - origin).normalized();
 
             return angles::radians_to_degrees(std::asin(direction.z));
         }
-        [[nodiscard]]
+
-        static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        [[nodiscard("yaw angle result should not be discarded")]]
+        static double calc_direct_yaw_angle(const Vector3<double>& origin, const Vector3<double>& view_to) noexcept
         {
             const auto direction = (view_to - origin).normalized();
 
             return angles::radians_to_degrees(std::atan2(direction.y, direction.x));
-        };
+        }
     };
 } // namespace omath::unreal_engine

include/omath/hooks/hooks_manager.hpp

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

include/omath/hud/canvas_box.hpp

@@ -9,9 +9,10 @@ namespace omath::hud
     class CanvasBox final
     {
     public:
+        CanvasBox() = default;
         CanvasBox(Vector2<float> top, Vector2<float> bottom, float ratio = 4.f);
 
-        [[nodiscard]]
+        [[nodiscard("You have to use array")]]
         std::array<Vector2<float>, 4> as_array() const;
 
         Vector2<float> top_left_corner;

include/omath/hud/entity_overlay.hpp

@@ -5,41 +5,57 @@
 #include "canvas_box.hpp"
 #include "entity_overlay_widgets.hpp"
 #include "hud_renderer_interface.hpp"
+#include "omath/3d_primitives/aabb.hpp"
 #include "omath/linear_algebra/vector2.hpp"
 #include "omath/utility/color.hpp"
+#include <expected>
 #include <memory>
 #include <string_view>
-
+#include <type_traits>
 namespace omath::hud
 {
+    enum class EntityOverlayError
+    {
+        NO_PROJECTED_VERTEX,
+        CENTER_PROJECTION_FAILED,
+    };
+
     class EntityOverlay final
     {
     public:
-        EntityOverlay(const Vector2<float>& top, const Vector2<float>& bottom,
+        EntityOverlay(const Vector2<float>& top, const Vector2<float>& bottom, float aspect,
                       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},
-                                  float thickness = 1.f);
+                                  const Color& outline_color = Color{0.f, 0.f, 0.f, 0.f}, float thickness = 1.f);
+
+        EntityOverlay& add_2d_box(const Color& box_color, const Gradient& fill_gradient,
+                                  const Color& outline_color = Color{0.f, 0.f, 0.f, 0.f}, float thickness = 1.f);
 
         EntityOverlay& add_cornered_2d_box(const Color& box_color, const Color& fill_color = Color{0.f, 0.f, 0.f, 0.f},
+                                           const Color& outline_color = Color{0.f, 0.f, 0.f, 0.f},
                                            float corner_ratio_len = 0.2f, float thickness = 1.f);
 
         EntityOverlay& add_dashed_box(const Color& color, float dash_len = 8.f, float gap_len = 5.f,
                                       float thickness = 1.f);
 
         // ── Bars ─────────────────────────────────────────────────────────
-        EntityOverlay& add_right_bar(const Color& color, const Color& outline_color, const Color& bg_color, float width,
+        EntityOverlay& add_right_bar(const widget::BarPaint& color, const Color& outline_color, const Color& bg_color,
-                                     float ratio, float offset = 5.f);
+                                     float width, float ratio, float offset = 5.f,
+                                     const std::optional<widget::Glow>& glow = std::nullopt);
 
-        EntityOverlay& add_left_bar(const Color& color, const Color& outline_color, const Color& bg_color, float width,
+        EntityOverlay& add_left_bar(const widget::BarPaint& color, const Color& outline_color, const Color& bg_color,
-                                    float ratio, float offset = 5.f);
+                                    float width, float ratio, float offset = 5.f,
+                                    const std::optional<widget::Glow>& glow = std::nullopt);
 
-        EntityOverlay& add_top_bar(const Color& color, const Color& outline_color, const Color& bg_color, float height,
+        EntityOverlay& add_top_bar(const widget::BarPaint& color, const Color& outline_color, const Color& bg_color,
-                                   float ratio, float offset = 5.f);
+                                   float height, float ratio, float offset = 5.f,
+                                   const std::optional<widget::Glow>& glow = std::nullopt);
 
-        EntityOverlay& add_bottom_bar(const Color& color, const Color& outline_color, const Color& bg_color,
+        EntityOverlay& add_bottom_bar(const widget::BarPaint& color, const Color& outline_color, const Color& bg_color,
-                                      float height, float ratio, float offset = 5.f);
+                                      float height, float ratio, float offset = 5.f,
+                                      const std::optional<widget::Glow>& glow = std::nullopt);
 
         EntityOverlay& add_right_dashed_bar(const Color& color, const Color& outline_color, const Color& bg_color,
                                             float width, float ratio, float dash_len, float gap_len,
@@ -56,46 +72,58 @@ namespace omath::hud
                                              float offset = 5.f);
 
         // ── Labels ───────────────────────────────────────────────────────
-        EntityOverlay& add_right_label(const Color& color, float offset, bool outlined, const std::string_view& text);
+        EntityOverlay& add_right_label(const widget::Paint& color, float offset, widget::Outlined outlined,
+                                       const std::string_view& text,
+                                       const std::optional<widget::Glow>& glow = std::nullopt);
 
-        EntityOverlay& add_left_label(const Color& color, float offset, bool outlined, const std::string_view& text);
+        EntityOverlay& add_left_label(const widget::Paint& color, float offset, widget::Outlined outlined,
+                                      const std::string_view& text,
+                                      const std::optional<widget::Glow>& glow = std::nullopt);
 
-        EntityOverlay& add_top_label(const Color& color, float offset, bool outlined, std::string_view text);
+        EntityOverlay& add_top_label(const widget::Paint& color, float offset, widget::Outlined outlined,
+                                     std::string_view text, const std::optional<widget::Glow>& glow = std::nullopt);
 
-        EntityOverlay& add_bottom_label(const Color& color, float offset, bool outlined, std::string_view text);
+        EntityOverlay& add_bottom_label(const widget::Paint& color, float offset, widget::Outlined outlined,
+                                        std::string_view text, const std::optional<widget::Glow>& glow = std::nullopt);
 
-        EntityOverlay& add_centered_top_label(const Color& color, float offset, bool outlined,
+        EntityOverlay& add_centered_top_label(const widget::Paint& color, float offset, widget::Outlined outlined,
-                                              const std::string_view& text);
+                                              const std::string_view& text,
+                                              const std::optional<widget::Glow>& glow = std::nullopt);
 
-        EntityOverlay& add_centered_bottom_label(const Color& color, float offset, bool outlined,
+        EntityOverlay& add_centered_bottom_label(const widget::Paint& color, float offset, widget::Outlined outlined,
-                                                 const std::string_view& text);
+                                                 const std::string_view& text,
+                                                 const std::optional<widget::Glow>& glow = std::nullopt);
 
         template<typename... Args>
-        EntityOverlay& add_right_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+        requires(sizeof...(Args) > 0)
-                                       Args&&... args)
+        EntityOverlay& add_right_label(const widget::Paint& color, const float offset, const widget::Outlined outlined,
+                                       std::format_string<Args...> fmt, Args&&... args)
         {
             return add_right_label(color, offset, outlined,
                                    std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
         }
 
         template<typename... Args>
-        EntityOverlay& add_left_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+        requires(sizeof...(Args) > 0)
-                                      Args&&... args)
+        EntityOverlay& add_left_label(const widget::Paint& color, const float offset, const widget::Outlined outlined,
+                                      std::format_string<Args...> fmt, Args&&... args)
         {
             return add_left_label(color, offset, outlined,
                                   std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
         }
 
         template<typename... Args>
-        EntityOverlay& add_top_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+        requires(sizeof...(Args) > 0)
-                                     Args&&... args)
+        EntityOverlay& add_top_label(const widget::Paint& color, const float offset, const widget::Outlined outlined,
+                                     std::format_string<Args...> fmt, Args&&... args)
         {
             return add_top_label(color, offset, outlined,
                                  std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
         }
 
         template<typename... Args>
-        EntityOverlay& add_bottom_label(const Color& color, const float offset, const bool outlined,
+        requires(sizeof...(Args) > 0)
+        EntityOverlay& add_bottom_label(const widget::Paint& color, const float offset, const widget::Outlined outlined,
                                         std::format_string<Args...> fmt, Args&&... args)
         {
             return add_bottom_label(color, offset, outlined,
@@ -103,16 +131,20 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_centered_top_label(const Color& color, const float offset, const bool outlined,
+        requires(sizeof...(Args) > 0)
-                                              std::format_string<Args...> fmt, Args&&... args)
+        EntityOverlay& add_centered_top_label(const widget::Paint& color, const float offset,
+                                              const widget::Outlined outlined, std::format_string<Args...> fmt,
+                                              Args&&... args)
         {
             return add_centered_top_label(color, offset, outlined,
                                           std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
         }
 
         template<typename... Args>
-        EntityOverlay& add_centered_bottom_label(const Color& color, const float offset, const bool outlined,
+        requires(sizeof...(Args) > 0)
-                                                 std::format_string<Args...> fmt, Args&&... args)
+        EntityOverlay& add_centered_bottom_label(const widget::Paint& color, const float offset,
+                                                 const widget::Outlined outlined, std::format_string<Args...> fmt,
+                                                 Args&&... args)
         {
             return add_centered_bottom_label(color, offset, outlined,
                                              std::string_view{std::vformat(fmt.get(), std::make_format_args(args...))});
@@ -152,6 +184,7 @@ namespace omath::hud
         EntityOverlay& add_snap_line(const Vector2<float>& start_pos, const Color& color, float width);
 
         EntityOverlay& add_skeleton(const Color& color, float thickness = 1.f);
+        EntityOverlay& add_skeleton(std::span<const widget::Bone> bones, const Color& color, float thickness = 1.f);
 
         // ── Declarative interface ─────────────────────────────────────────
         /// Pass any combination of widget:: descriptor structs (and std::optional<W>
@@ -163,6 +196,49 @@ namespace omath::hud
             return *this;
         }
 
+        template<class Camera, class Aabb>
+        [[nodiscard]]
+        static std::expected<EntityOverlay, EntityOverlayError>
+        from_aabb(const Camera& camera, const Aabb& aabb, const float aspect,
+                  const std::shared_ptr<HudRendererInterface>& renderer)
+        {
+            using ProjectedVector = std::invoke_result_t<decltype(&Aabb::center), const Aabb&>;
+
+            ProjectedVector top;
+            ProjectedVector bottom;
+            bool has_projected_vertex = false;
+
+            for (const auto& vertex : aabb.vertices())
+            {
+                if (auto projected = camera.world_to_screen_unclipped(vertex))
+                {
+                    if (!has_projected_vertex)
+                    {
+                        top = *projected;
+                        bottom = *projected;
+                        has_projected_vertex = true;
+                        continue;
+                    }
+
+                    if (projected->y < top.y)
+                        top = *projected;
+                    if (projected->y > bottom.y)
+                        bottom = *projected;
+                }
+            }
+
+            if (!has_projected_vertex)
+                return std::unexpected(EntityOverlayError::NO_PROJECTED_VERTEX);
+
+            auto center = camera.world_to_screen_unclipped(aabb.center());
+            if (!center)
+                return std::unexpected(EntityOverlayError::CENTER_PROJECTION_FAILED);
+
+            const auto center_x = static_cast<float>(center->x);
+            return EntityOverlay{
+                    {center_x, static_cast<float>(top.y)}, {center_x, static_cast<float>(bottom.y)}, aspect, renderer};
+        }
+
     private:
         // optional<W> dispatch — enables when() conditional widgets
         template<typename W>
@@ -173,6 +249,7 @@ namespace omath::hud
         }
 
         void dispatch(const widget::Box& box);
+        void dispatch(const widget::CanvasGlow& canvas_glow);
         void dispatch(const widget::CorneredBox& cornered_box);
         void dispatch(const widget::DashedBox& dashed_box);
         void dispatch(const widget::RightSide& right_side);
@@ -185,7 +262,19 @@ namespace omath::hud
         void dispatch(const widget::AimDot& aim_dot);
         void dispatch(const widget::ProjectileAim& proj_widget);
         void draw_progress_ring(const Vector2<float>& center, const widget::ProgressRing& ring);
-        void draw_outlined_text(const Vector2<float>& position, const Color& color, const std::string_view& text);
+        void draw_label(const Vector2<float>& position, const widget::Paint& paint, widget::Outlined outlined,
+                        const std::string_view& text, const std::optional<widget::Glow>& glow);
+        void draw_glow_polyline(const std::span<const Vector2<float>>& points, const widget::Glow& glow,
+                                float thickness) const;
+        void draw_glow_line(const Vector2<float>& from, const Vector2<float>& to, const widget::Glow& glow,
+                            float thickness) const;
+        void draw_glow_rectangle(const Vector2<float>& min, const Vector2<float>& max,
+                                 const std::optional<widget::Glow>& glow) const;
+        void draw_canvas_glow(const widget::CanvasGlow& canvas_glow) const;
+        void draw_filled_rectangle(const Vector2<float>& min, const Vector2<float>& max,
+                                   const widget::Paint& paint) const;
+        [[nodiscard]]
+        static widget::Paint resolve_bar_paint(const widget::BarPaint& paint, float ratio, bool vertical);
         void draw_dashed_line(const Vector2<float>& from, const Vector2<float>& to, const Color& color, float dash_len,
                               float gap_len, float thickness) const;
         void draw_dashed_fill(const Vector2<float>& origin, const Vector2<float>& step_dir,

include/omath/hud/entity_overlay_widgets.hpp

@@ -2,16 +2,57 @@
 // Created by orange on 15.03.2026.
 //
 #pragma once
+#include "gradient.hpp"
 #include "omath/linear_algebra/vector2.hpp"
 #include "omath/utility/color.hpp"
 #include <any>
+#include <array>
 #include <initializer_list>
 #include <optional>
+#include <span>
 #include <string_view>
+#include <type_traits>
 #include <variant>
+#include <vector>
 
 namespace omath::hud::widget
 {
+    struct Paint : std::variant<Color, Gradient>
+    {
+        using std::variant<Color, Gradient>::variant;
+
+        constexpr Paint(const float red, const float green, const float blue, const float alpha)
+            : std::variant<Color, Gradient>(Color{red, green, blue, alpha})
+        {
+        }
+    };
+
+    struct BarGradient
+    {
+        Color empty_color;
+        Color full_color;
+    };
+
+    struct BarPaint : std::variant<Color, Gradient, BarGradient>
+    {
+        using std::variant<Color, Gradient, BarGradient>::variant;
+
+        constexpr BarPaint(const float red, const float green, const float blue, const float alpha)
+            : std::variant<Color, Gradient, BarGradient>(Color{red, green, blue, alpha})
+        {
+        }
+
+        BarPaint(const Paint& paint)
+        {
+            std::visit(
+                    [this](const auto& value)
+                    {
+                        this->template emplace<std::decay_t<decltype(value)>>(value);
+                    },
+                    paint);
+        }
+    };
+
     // ── Overloaded helper for std::visit ──────────────────────────────────────
     template<typename... Ts>
     struct Overloaded : Ts...
@@ -21,20 +62,43 @@ namespace omath::hud::widget
     template<typename... Ts>
     Overloaded(Ts...) -> Overloaded<Ts...>;
 
+    struct Glow
+    {
+        Color color;
+        float radius = 4.f;
+        float intensity = 1.f;
+    };
+
+    struct CanvasGlow
+    {
+        Glow glow;
+        int layers = 64;
+        float rounding = 20.f;
+    };
+
     // ── Standalone widgets ────────────────────────────────────────────────────
     struct Box
     {
         Color color;
-        Color fill{0.f, 0.f, 0.f, 0.f};
+        Paint fill{Color{0.f, 0.f, 0.f, 0.f}};
+        Color outline{0.f, 0.f, 0.f, 0.f};
         float thickness = 1.f;
+        std::optional<Glow> glow = std::nullopt;
     };
 
+    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;
+        std::optional<Glow> glow = std::nullopt;
     };
 
     struct DashedBox
@@ -45,10 +109,37 @@ namespace omath::hud::widget
         float thickness = 1.f;
     };
 
+    struct Bone
+    {
+        Vector2<float> start;
+        Vector2<float> end;
+    };
+
     struct Skeleton
     {
+        std::vector<Bone> bones;
         Color color;
         float thickness = 1.f;
+
+        Skeleton(const Color& color, const float thickness = 1.f): color(color), thickness(thickness)
+        {
+        }
+
+        Skeleton(const std::span<const Bone> bones, const Color& color, const float thickness = 1.f)
+            : bones(bones.begin(), bones.end()), color(color), thickness(thickness)
+        {
+        }
+
+        Skeleton(const std::initializer_list<Bone> bones, const Color& color, const float thickness = 1.f)
+            : bones(bones), color(color), thickness(thickness)
+        {
+        }
+
+        template<std::size_t Size>
+        Skeleton(const std::array<Bone, Size>& bones, const Color& color, const float thickness = 1.f)
+            : Skeleton(std::span<const Bone>{bones}, color, thickness)
+        {
+        }
     };
     struct SnapLine
     {
@@ -85,18 +176,18 @@ namespace omath::hud::widget
         Figure figure = Figure::SQUARE;
     };
 
-
     // ── Side-agnostic widgets (used inside XxxSide containers) ────────────────
 
     /// A filled bar. `size` is width for left/right sides, height for top/bottom.
     struct Bar
     {
-        Color color;
+        BarPaint color;
         Color outline;
         Color bg;
         float size;
         float ratio;
         float offset = 5.f;
+        std::optional<Glow> glow = std::nullopt;
     };
 
     /// A dashed bar. Same field semantics as Bar plus dash parameters.
@@ -114,10 +205,11 @@ namespace omath::hud::widget
 
     struct Label
     {
-        Color color;
+        Paint color;
         float offset;
-        bool outlined;
+        Outlined outlined;
         std::string_view text;
+        std::optional<Glow> glow = std::nullopt;
     };
 
     /// Wraps a Label to request horizontal centering (only applied in TopSide / BottomSide).
@@ -165,8 +257,8 @@ namespace omath::hud::widget
     struct None
     {
     }; ///< No-op placeholder — used by widget::when for disabled elements.
-    using SideWidget =
+    using SideWidget = std::variant<None, Bar, DashedBar, Label, Centered<Label>, SpaceVertical, SpaceHorizontal,
-            std::variant<None, Bar, DashedBar, Label, Centered<Label>, SpaceVertical, SpaceHorizontal, ProgressRing, Icon>;
+                                    ProgressRing, Icon>;
 
     // ── Side containers ───────────────────────────────────────────────────────
     // Storing std::initializer_list<SideWidget> is safe here: the backing array

include/omath/hud/gradient.hpp

@@ -0,0 +1,23 @@
+#pragma once
+#include "omath/utility/color.hpp"
+
+namespace omath::hud
+{
+    enum class GradientDirection
+    {
+        RightToLeft,
+        LeftToRight,
+    };
+
+    struct Gradient
+    {
+        Color top_left;
+        Color top_right;
+        Color bottom_right;
+        Color bottom_left;
+        bool animated = false;
+        float animation_speed = 4.f;
+        float animation_spread = 0.7f;
+        GradientDirection direction = GradientDirection::RightToLeft;
+    };
+} // namespace omath::hud

include/omath/hud/hud_renderer_interface.hpp

@@ -2,6 +2,7 @@
 // Created by orange on 13.03.2026.
 //
 #pragma once
+#include "gradient.hpp"
 #include "omath/linear_algebra/vector2.hpp"
 #include "omath/utility/color.hpp"
 #include <any>
@@ -19,12 +20,24 @@ namespace omath::hud
         virtual void add_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color,
                                   float thickness) = 0;
 
+        virtual void add_polyline_clipped(const std::span<const Vector2<float>>& vertexes, const Vector2<float>&,
+                                          const Vector2<float>&, const Color& color, float thickness)
+        {
+            add_polyline(vertexes, color, thickness);
+        }
+
         virtual void add_filled_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color) = 0;
 
         virtual void add_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) = 0;
 
         virtual void add_filled_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) = 0;
 
+        virtual void add_gradient_rectangle(const Vector2<float>& min, const Vector2<float>& max,
+                                            const Gradient& gradient)
+        {
+            add_filled_rectangle(min, max, gradient.top_left);
+        }
+
         virtual void add_circle(const Vector2<float>& center, float radius, const Color& color, float thickness,
                                 int segments = 0) = 0;
 
@@ -41,6 +54,12 @@ namespace omath::hud
 
         virtual void add_text(const Vector2<float>& position, const Color& color, const std::string_view& text) = 0;
 
+        virtual void add_gradient_text(const Vector2<float>& position, const Gradient& gradient,
+                                       const std::string_view& text)
+        {
+            add_text(position, gradient.top_left, text);
+        }
+
         [[nodiscard]]
         virtual Vector2<float> calc_text_size(const std::string_view& text) = 0;
     };

include/omath/hud/renderer_realizations/imgui_renderer.hpp

@@ -13,10 +13,15 @@ namespace omath::hud
         ~ImguiHudRenderer() override;
         void add_line(const Vector2<float>& line_start, const Vector2<float>& line_end, const Color& color,
                       float thickness) override;
-        void add_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color, float thickness) override;
+        void add_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color,
+                          float thickness) override;
+        void add_polyline_clipped(const std::span<const Vector2<float>>& vertexes, const Vector2<float>& clip_min,
+                                  const Vector2<float>& clip_max, const Color& color, float thickness) override;
         void add_filled_polyline(const std::span<const Vector2<float>>& vertexes, const Color& color) override;
         void add_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) override;
         void add_filled_rectangle(const Vector2<float>& min, const Vector2<float>& max, const Color& color) override;
+        void add_gradient_rectangle(const Vector2<float>& min, const Vector2<float>& max,
+                                    const Gradient& gradient) override;
         void add_circle(const Vector2<float>& center, float radius, const Color& color, float thickness,
                         int segments = 0) override;
         void add_filled_circle(const Vector2<float>& center, float radius, const Color& color,
@@ -26,8 +31,10 @@ namespace omath::hud
         void add_image(const std::any& texture_id, const Vector2<float>& min, const Vector2<float>& max,
                        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;
+        void add_gradient_text(const Vector2<float>& position, const Gradient& gradient,
+                               const std::string_view& text) override;
         [[nodiscard]]
-        virtual Vector2<float> calc_text_size(const std::string_view& text) override;
+        Vector2<float> calc_text_size(const std::string_view& text) override;
     };
 } // namespace omath::hud
 #endif // OMATH_IMGUI_INTEGRATION

include/omath/internal/constexpr_math.hpp

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

include/omath/linear_algebra/mat.hpp

@@ -2,13 +2,16 @@
 // Created by vlad on 9/29/2024.
 //
 #pragma once
+#include "omath/internal/constexpr_math.hpp"
 #include "vector3.hpp"
 #include <algorithm>
 #include <array>
+#include <cmath>
 #include <iomanip>
 #include <numeric>
 #include <sstream>
 #include <stdexcept>
+#include <type_traits>
 #include <utility>
 
 #ifdef OMATH_USE_AVX2
@@ -37,9 +40,15 @@ namespace omath
         COLUMN_MAJOR
     };
 
-    template<typename M1, typename M2> concept MatTemplateEqual
+    enum class NDCDepthRange : uint8_t
-            = (M1::rows == M2::rows) && (M1::columns == M2::columns)
+    {
-              && std::is_same_v<typename M1::value_type, typename M2::value_type> && (M1::store_type == M2::store_type);
+        NEGATIVE_ONE_TO_ONE = 0, // OpenGL: [-1.0, 1.0]
+        ZERO_TO_ONE // DirectX / Vulkan: [0.0, 1.0]
+    };
+
+    template<typename M1, typename M2> concept MatTemplateEqual =
+            (M1::rows == M2::rows) && (M1::columns == M2::columns)
+            && std::is_same_v<typename M1::value_type, typename M2::value_type> && (M1::store_type == M2::store_type);
 
     template<size_t Rows = 0, size_t Columns = 0, class Type = float, MatStoreType StoreType = MatStoreType::ROW_MAJOR>
     requires std::is_arithmetic_v<Type>
@@ -52,7 +61,7 @@ namespace omath
             clear();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use store ordering")]]
         consteval static MatStoreType get_store_ordering() noexcept
         {
             return StoreType;
@@ -87,13 +96,13 @@ namespace omath
             m_data = other.m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr Type& operator[](const size_t row, const size_t col)
         {
             return at(row, col);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr const Type& operator[](const size_t row, const size_t col) const
         {
             return at(row, col);
@@ -104,25 +113,25 @@ namespace omath
             m_data = std::move(other.m_data);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use row count")]]
         static constexpr size_t row_count() noexcept
         {
             return Rows;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use column count")]]
         static constexpr size_t columns_count() noexcept
         {
             return Columns;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use matrix size")]]
-        static consteval MatSize size() noexcept
+        static constexpr MatSize size() noexcept
         {
             return {Rows, Columns};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr const Type& at(const size_t row_index, const size_t column_index) const
         {
 #if !defined(NDEBUG) && defined(OMATH_SUPRESS_SAFETY_CHECKS)
@@ -142,12 +151,13 @@ namespace omath
             }
         }
 
-        [[nodiscard]] constexpr Type& at(const size_t row_index, const size_t column_index)
+        [[nodiscard("You must use element reference")]] constexpr Type& at(const size_t row_index,
+                                                                           const size_t column_index)
         {
             return const_cast<Type&>(std::as_const(*this).at(row_index, column_index));
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use sum of elements")]]
         constexpr Type sum() const noexcept
         {
             return std::accumulate(m_data.begin(), m_data.end(), static_cast<Type>(0));
@@ -164,11 +174,18 @@ namespace omath
         }
 
         // Operator overloading for multiplication with another Mat
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, StoreType>
         operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
         {
 #ifdef OMATH_USE_AVX2
+            if (std::is_constant_evaluated())
+            {
+                if constexpr (StoreType == MatStoreType::ROW_MAJOR)
+                    return cache_friendly_multiply_row_major(other);
+                else if constexpr (StoreType == MatStoreType::COLUMN_MAJOR)
+                    return cache_friendly_multiply_col_major(other);
+            }
             if constexpr (StoreType == MatStoreType::ROW_MAJOR)
                 return avx_multiply_row_major(other);
             else if constexpr (StoreType == MatStoreType::COLUMN_MAJOR)
@@ -185,7 +202,11 @@ namespace omath
 
         constexpr Mat& operator*=(const Type& f) noexcept
         {
-            std::ranges::for_each(m_data, [&f](auto& val) { val *= f; });
+            std::ranges::for_each(m_data,
+                                  [&f](auto& val)
+                                  {
+                                      val *= f;
+                                  });
             return *this;
         }
 
@@ -195,7 +216,7 @@ namespace omath
             return *this = *this * other;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result matrix")]]
         constexpr Mat operator*(const Type& value) const noexcept
         {
             Mat result(*this);
@@ -205,11 +226,15 @@ namespace omath
 
         constexpr Mat& operator/=(const Type& value) noexcept
         {
-            std::ranges::for_each(m_data, [&value](auto& val) { val /= value; });
+            std::ranges::for_each(m_data,
+                                  [&value](auto& val)
+                                  {
+                                      val /= value;
+                                  });
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result matrix")]]
         constexpr Mat operator/(const Type& value) const noexcept
         {
             Mat result(*this);
@@ -233,7 +258,7 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use transposed matrix")]]
         constexpr Mat<Columns, Rows, Type, StoreType> transposed() const noexcept
         {
             Mat<Columns, Rows, Type, StoreType> transposed;
@@ -244,7 +269,7 @@ namespace omath
             return transposed;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use determinant")]]
         constexpr Type determinant() const
         {
             static_assert(Rows == Columns, "Determinant is only defined for square matrices.");
@@ -265,10 +290,11 @@ namespace omath
                 }
                 return det;
             }
-            std::unreachable();
+            else // For no reason MSVC triggers on it as unreachable code so we keep else here.
+                std::unreachable();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use stripped matrix")]]
         constexpr Mat<Rows - 1, Columns - 1, Type, StoreType> strip(const size_t row, const size_t column) const
         {
             static_assert(Rows - 1 > 0 && Columns - 1 > 0);
@@ -289,32 +315,32 @@ namespace omath
             return result;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use minor")]]
         constexpr Type minor(const size_t row, const size_t column) const
         {
             return strip(row, column).determinant();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use algebraic complement")]]
         constexpr Type alg_complement(const size_t row, const size_t column) const
         {
             const auto minor_value = minor(row, column);
             return (row + column + 2) % 2 == 0 ? minor_value : -minor_value;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use raw array")]]
         constexpr const std::array<Type, Rows * Columns>& raw_array() const
         {
             return m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use raw array")]]
         constexpr std::array<Type, Rows * Columns>& raw_array()
         {
             return m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use string representation")]]
         std::string to_string() const noexcept
         {
             std::ostringstream oss;
@@ -336,14 +362,14 @@ namespace omath
             return oss.str();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use wide string representation")]]
         std::wstring to_wstring() const noexcept
         {
             const auto ascii_string = to_string();
             return {ascii_string.cbegin(), ascii_string.cend()};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use UTF-8 string representation")]]
         // ReSharper disable once CppInconsistentNaming
         std::u8string to_u8string() const noexcept
         {
@@ -351,20 +377,20 @@ namespace omath
             return {ascii_string.cbegin(), ascii_string.cend()};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator==(const Mat& mat) const
         {
             return m_data == mat.m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator!=(const Mat& mat) const
         {
             return !operator==(mat);
         }
 
         // Static methods that return fixed-size matrices
-        [[nodiscard]]
+        [[nodiscard("You must use screen matrix")]]
         constexpr static Mat<4, 4> to_screen_mat(const Type& screen_width, const Type& screen_height) noexcept
         {
             return {
@@ -375,12 +401,12 @@ namespace omath
             };
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use inverted matrix")]]
         constexpr std::optional<Mat> inverted() const
         {
             const auto det = determinant();
 
-            if (std::abs(det) < std::numeric_limits<Type>::epsilon())
+            if (internal::abs(det) < std::numeric_limits<Type>::epsilon())
                 return std::nullopt;
 
             const auto transposed_mat = transposed();
@@ -398,7 +424,7 @@ namespace omath
     private:
         std::array<Type, Rows * Columns> m_data;
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
         cache_friendly_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
         {
@@ -413,7 +439,7 @@ namespace omath
             return result;
         }
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> cache_friendly_multiply_col_major(
                 const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
         {
@@ -428,7 +454,7 @@ namespace omath
             return result;
         }
 #ifdef OMATH_USE_AVX2
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>
         avx_multiply_col_major(const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
         {
@@ -498,7 +524,7 @@ namespace omath
             return result;
         }
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
         avx_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
         {
@@ -569,24 +595,23 @@ namespace omath
 #endif
     };
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard("You must use row matrix")]]
-    constexpr static Mat<1, 4, Type, St> mat_row_from_vector(const Vector3<Type>& vector) noexcept
+    constexpr Mat<1, 4, Type, St> mat_row_from_vector(const Vector3<Type>& vector) noexcept
     {
         return {{vector.x, vector.y, vector.z, 1}};
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard("You must use column matrix")]]
-    constexpr static Mat<4, 1, Type, St> mat_column_from_vector(const Vector3<Type>& vector) noexcept
+    constexpr Mat<4, 1, Type, St> mat_column_from_vector(const Vector3<Type>& vector) noexcept
     {
         return {{vector.x}, {vector.y}, {vector.z}, {1}};
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use translation matrix")]]
     constexpr Mat<4, 4, Type, St> mat_translation(const Vector3<Type>& diff) noexcept
     {
-        return
+        return {
-        {
                 {1, 0, 0, diff.x},
                 {0, 1, 0, diff.y},
                 {0, 0, 1, diff.z},
@@ -594,7 +619,7 @@ namespace omath
         };
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use scale matrix")]]
     constexpr Mat<4, 4, Type, St> mat_scale(const Vector3<Type>& scale) noexcept
     {
         return {
@@ -605,112 +630,229 @@ namespace omath
         };
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use extracted origin")]]
-    Mat<4, 4, Type, St> mat_rotation_axis_x(const Angle& angle) noexcept
+    constexpr Vector3<Type> mat_extract_origin(const Mat<4, 4, Type, St>& mat) noexcept
     {
-        return
+        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")]]
+    constexpr Vector3<Type> mat_extract_scale(const Mat<4, 4, Type, St>& mat) noexcept
+    {
+        auto column_length = [](const Type x, const Type y, const Type z)
         {
-            {1, 0,           0,            0},
+            return static_cast<Type>(internal::sqrt(x * x + y * y + z * z));
-            {0, angle.cos(), -angle.sin(), 0},
+        };
-            {0, angle.sin(), angle.cos(),  0},
+
-            {0, 0,           0,            1}
+        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 {
+                internal::abs(scale_x) < epsilon ? Type{1} : scale_x,
+                internal::abs(scale_y) < epsilon ? Type{1} : scale_y,
+                internal::abs(scale_z) < epsilon ? Type{1} : scale_z,
+        };
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard("You must use extracted rotation")]]
+    constexpr Vector3<Type> mat_extract_rotation_zyx(const Mat<4, 4, Type, St>& mat) noexcept
+    {
+        const auto scale = mat_extract_scale(mat);
+        const auto m00 = mat.at(0, 0) / scale.x;
+        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(internal::atan2(m21, m22)),
+                angles::radians_to_degrees(internal::asin(std::clamp(-m20, Type{-1}, Type{1}))),
+                angles::radians_to_degrees(internal::atan2(m10, m00)),
         };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
-    Mat<4, 4, Type, St> mat_rotation_axis_y(const Angle& angle) noexcept
+    constexpr Mat<4, 4, Type, St> mat_rotation_axis_x(const Angle& angle) noexcept
     {
-        return
+        return {{1, 0, 0, 0}, {0, angle.cos(), -angle.sin(), 0}, {0, angle.sin(), angle.cos(), 0}, {0, 0, 0, 1}};
-        {
-            {angle.cos(),  0, angle.sin(), 0},
-            {0           , 1,           0, 0},
-            {-angle.sin(), 0, angle.cos(), 0},
-            {0           , 0,           0, 1}
-        };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
-    Mat<4, 4, Type, St> mat_rotation_axis_z(const Angle& angle) noexcept
+    constexpr Mat<4, 4, Type, St> mat_rotation_axis_y(const Angle& angle) noexcept
     {
-        return
+        return {{angle.cos(), 0, angle.sin(), 0}, {0, 1, 0, 0}, {-angle.sin(), 0, angle.cos(), 0}, {0, 0, 0, 1}};
-        {
+    }
-            {angle.cos(), -angle.sin(), 0, 0},
+
-            {angle.sin(),  angle.cos(), 0, 0},
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-            {          0,        0,     1, 0},
+    [[nodiscard("You must use rotation matrix")]]
-            {          0,        0,     0, 1},
+    constexpr Mat<4, 4, Type, St> mat_rotation_axis_z(const Angle& angle) noexcept
+    {
+        return {
+                {angle.cos(), -angle.sin(), 0, 0},
+                {angle.sin(), angle.cos(), 0, 0},
+                {0, 0, 1, 0},
+                {0, 0, 0, 1},
         };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use camera view matrix")]]
-    static Mat<4, 4, Type, St> mat_camera_view(const Vector3<Type>& forward, const Vector3<Type>& right,
+    constexpr Mat<4, 4, Type, St> mat_camera_view(const Vector3<Type>& forward, const Vector3<Type>& right,
-                                               const Vector3<Type>& up, const Vector3<Type>& camera_origin) noexcept
+                                                  const Vector3<Type>& up, const Vector3<Type>& camera_origin) noexcept
     {
-        return  Mat<4, 4, Type, St>
+        return Mat<4, 4, Type, St>{
-        {
+                       {right.x, right.y, right.z, 0},
-            {right.x,   right.y,   right.z,   0},
+                       {up.x, up.y, up.z, 0},
-            {up.x,      up.y,      up.z,      0},
+                       {forward.x, forward.y, forward.z, 0},
-            {forward.x, forward.y, forward.z, 0},
+                       {0, 0, 0, 1},
-            {0,         0,         0,         1},
+               }
-        } * mat_translation<Type, St>(-camera_origin);
+               * mat_translation<Type, St>(-camera_origin);
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
-    [[nodiscard]]
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    Mat<4, 4, Type, St> mat_perspective_left_handed(const float field_of_view, const float aspect_ratio,
+    [[nodiscard("You must use perspective matrix")]] constexpr Mat<4, 4, Type, St>
-                                                    const float near, const float far) noexcept
+    mat_perspective_left_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio, const Type near,
+                                             const Type far) noexcept
     {
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
+        const auto fov_half_tan = internal::tan(angles::degrees_to_radians(field_of_view) / Type{2});
-
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
-        return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0}, Type{0}, Type{0}},
-                {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+                    {Type{0}, Type{1} / fov_half_tan, Type{0}, Type{0}},
-                {0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                    {Type{0}, Type{0}, far / (far - near), -(near * far) / (far - near)},
-                {0.f, 0.f, 1.f, 0.f}};
+                    {Type{0}, Type{0}, Type{1}, Type{0}}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{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();
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
-    [[nodiscard]]
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    Mat<4, 4, Type, St> mat_perspective_right_handed(const float field_of_view, const float aspect_ratio,
+    [[nodiscard("You must use perspective matrix")]] constexpr Mat<4, 4, Type, St>
-                                                     const float near, const float far) noexcept
+    mat_perspective_right_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio, const Type near,
+                                              const Type far) noexcept
     {
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
+        const auto fov_half_tan = internal::tan(angles::degrees_to_radians(field_of_view) / Type{2});
 
-        return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
-                {0.f, 1.f / fov_half_tan, 0.f, 0.f},
+            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0}, Type{0}, Type{0}},
-                {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
+                    {Type{0}, Type{1} / fov_half_tan, Type{0}, Type{0}},
-                {0.f, 0.f, -1.f, 0.f}};
+                    {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 {{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();
     }
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+
-    [[nodiscard]]
+    // Horizontal-FOV variants — use these when the engine reports FOV as
-    Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
+    // horizontal (UE's FMinimalViewInfo::FOV, Quake-family fov_x, etc.).
-                                              const Type near, const Type far) noexcept
+    // 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")]] constexpr 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
     {
-        return
+        const auto inv_tan_half_hfov = Type{1} / internal::tan(angles::degrees_to_radians(horizontal_fov) / Type{2});
-        {
+        const auto x_axis = inv_tan_half_hfov;
-            { static_cast<Type>(2) / (right - left), 0.f,       0.f,    -(right + left) / (right - left)},
+        const auto y_axis = inv_tan_half_hfov * aspect_ratio;
-            { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,    -(top + bottom) / (top - bottom)},
+
-            { 0.f,      0.f,       static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
-            { 0.f,      0.f,       0.f,                                 1.f                             }
+            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>
+
-    [[nodiscard]]
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
-    Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-                                               const Type near, const Type far) noexcept
+    [[nodiscard("You must use perspective matrix")]] constexpr 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
     {
-        return
+        const auto inv_tan_half_hfov = Type{1} / internal::tan(angles::degrees_to_radians(horizontal_fov) / Type{2});
-        {
+
-                { static_cast<Type>(2) / (right - left), 0.f,       0.f,     -(right + left) / (right - left)},
+        const auto x_axis = inv_tan_half_hfov;
-                { 0.f,      static_cast<Type>(2) / (top - bottom),  0.f,     -(top + bottom) / (top - bottom)},
+        const auto y_axis = inv_tan_half_hfov * aspect_ratio;
-                { 0.f,      0.f,       -static_cast<Type>(2) / (far - near), -(far + near) / (far - near)    },
+
-                { 0.f,      0.f,       0.f,                                  1.f                             }
+        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 ortho matrix")]] constexpr 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
+    {
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
+                    {0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
+                    {0.f, 0.f, static_cast<Type>(1) / (far - near), -near / (far - near)},
+                    {0.f, 0.f, 0.f, 1.f}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
+                    {0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
+                    {0.f, 0.f, static_cast<Type>(2) / (far - near), -(far + near) / (far - near)},
+                    {0.f, 0.f, 0.f, 1.f}};
+        else
+            std::unreachable();
+    }
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
+    [[nodiscard("You must use ortho matrix")]] constexpr 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
+    {
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
+                    {0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
+                    {0.f, 0.f, -static_cast<Type>(1) / (far - near), -near / (far - near)},
+                    {0.f, 0.f, 0.f, 1.f}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
+                    {0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
+                    {0.f, 0.f, -static_cast<Type>(2) / (far - near), -(far + near) / (far - near)},
+                    {0.f, 0.f, 0.f, 1.f}};
+        else
+            std::unreachable();
     }
     template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
-   Mat<4, 4, T, St> mat_look_at_left_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)
+    constexpr Mat<4, 4, T, St> mat_look_at_left_handed(const Vector3<T>& eye, const Vector3<T>& center,
+                                                       const Vector3<T>& up)
     {
         const Vector3<T> f = (center - eye).normalized();
         const Vector3<T> s = f.cross(up).normalized();
@@ -719,7 +861,8 @@ namespace omath
     }
 
     template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
-    Mat<4, 4, T, St>mat_look_at_right_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)
+    constexpr Mat<4, 4, T, St> mat_look_at_right_handed(const Vector3<T>& eye, const Vector3<T>& center,
+                                                        const Vector3<T>& up)
     {
         const Vector3<T> f = (center - eye).normalized();
         const Vector3<T> s = f.cross(up).normalized();
@@ -730,17 +873,17 @@ namespace omath
 } // namespace omath
 
 template<size_t Rows, size_t Columns, class Type, omath::MatStoreType StoreType>
-struct std::formatter<omath::Mat<Rows, Columns, Type, StoreType>> // NOLINT(*-dcl58-cpp)
+struct std::formatter<omath::Mat<Rows, Columns, Type, StoreType>> final // NOLINT(*-dcl58-cpp)
 {
     using MatType = omath::Mat<Rows, Columns, Type, StoreType>;
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
 
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const MatType& mat, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/linear_algebra/triangle.hpp

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

include/omath/linear_algebra/vector2.hpp

@@ -3,6 +3,7 @@
 //
 
 #pragma once
+#include "omath/internal/constexpr_math.hpp"
 #include <cmath>
 #include <format>
 #include <tuple>
@@ -26,18 +27,24 @@ namespace omath
         // Constructors
         constexpr Vector2() = default;
 
+        template<class CastedType>
+        requires std::is_arithmetic_v<CastedType>
+        [[nodiscard("You must use casted vector")]] constexpr explicit operator Vector2<CastedType>() const noexcept
+        {
+            return {static_cast<CastedType>(x), static_cast<CastedType>(y)};
+        }
         constexpr Vector2(const Type& x, const Type& y) noexcept: x(x), y(y)
         {
         }
 
         // Equality operators
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         constexpr bool operator==(const Vector2& other) const noexcept
         {
             return x == other.x && y == other.y;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         constexpr bool operator!=(const Vector2& other) const noexcept
         {
             return !(*this == other);
@@ -109,45 +116,51 @@ namespace omath
         }
 
         // Basic vector operations
-        [[nodiscard]] Type distance_to(const Vector2& other) const noexcept
+        [[nodiscard("You must use distance")]]
+        constexpr Type distance_to(const Vector2& other) const noexcept
         {
-            return std::sqrt(distance_to_sqr(other));
+            return internal::sqrt(distance_to_sqr(other));
         }
 
-        [[nodiscard]] constexpr Type distance_to_sqr(const Vector2& other) const noexcept
+        [[nodiscard("You must use squared distance")]]
+        constexpr Type distance_to_sqr(const Vector2& other) const noexcept
         {
             return (x - other.x) * (x - other.x) + (y - other.y) * (y - other.y);
         }
 
-        [[nodiscard]] constexpr Type dot(const Vector2& other) const noexcept
+        [[nodiscard("You must use dot product")]]
+        constexpr Type dot(const Vector2& other) const noexcept
         {
             return x * other.x + y * other.y;
         }
 
 #ifndef _MSC_VER
-        [[nodiscard]] constexpr Type length() const noexcept
+        [[nodiscard("You must use length")]] constexpr Type length() const noexcept
         {
-            return std::hypot(this->x, this->y);
+            return internal::hypot(this->x, this->y);
         }
 
-        [[nodiscard]] constexpr Vector2 normalized() const noexcept
+        [[nodiscard("You must use normalized vector")]] constexpr Vector2 normalized() const noexcept
         {
             const Type len = length();
             return len > 0.f ? *this / len : *this;
         }
 #else
-        [[nodiscard]] Type length() const noexcept
+        [[nodiscard("You must use length")]]
+        constexpr Type length() const noexcept
         {
-            return std::hypot(x, y);
+            return internal::hypot(x, y);
         }
 
-        [[nodiscard]] Vector2 normalized() const noexcept
+        [[nodiscard("You must use normalized vector")]]
+        constexpr Vector2 normalized() const noexcept
         {
             const Type len = length();
             return len > static_cast<Type>(0) ? *this / len : *this;
         }
 #endif
-        [[nodiscard]] constexpr Type length_sqr() const noexcept
+        [[nodiscard("You must use squared length")]]
+        constexpr Type length_sqr() const noexcept
         {
             return x * x + y * y;
         }
@@ -159,80 +172,91 @@ namespace omath
             y = y < static_cast<Type>(0) ? -y : y;
             return *this;
         }
+        [[nodiscard("You must use absed vector")]]
+        constexpr Vector2 abs() const noexcept
+        {
+            return Vector2{*this}.abs();
+        }
 
-        [[nodiscard]] constexpr Vector2 operator-() const noexcept
+        [[nodiscard("You must use negated vector")]]
+        constexpr Vector2 operator-() const noexcept
         {
             return {-x, -y};
         }
 
         // Binary arithmetic operators
-        [[nodiscard]] constexpr Vector2 operator+(const Vector2& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector2 operator+(const Vector2& other) const noexcept
         {
             return {x + other.x, y + other.y};
         }
 
-        [[nodiscard]] constexpr Vector2 operator-(const Vector2& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector2 operator-(const Vector2& other) const noexcept
         {
             return {x - other.x, y - other.y};
         }
 
-        [[nodiscard]] constexpr Vector2 operator*(const Type& value) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector2 operator*(const Type& value) const noexcept
         {
             return {x * value, y * value};
         }
 
-        [[nodiscard]] constexpr Vector2 operator/(const Type& value) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector2 operator/(const Type& value) const noexcept
         {
             return {x / value, y / value};
         }
 
         // Sum of elements
-        [[nodiscard]] constexpr Type sum() const noexcept
+        [[nodiscard("You must use sum of elements")]]
+        constexpr Type sum() const noexcept
         {
             return x + y;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
-        bool operator<(const Vector2& other) const noexcept
+        constexpr bool operator<(const Vector2& other) const noexcept
         {
             return length() < other.length();
         }
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
-        bool operator>(const Vector2& other) const noexcept
+        constexpr bool operator>(const Vector2& other) const noexcept
         {
             return length() > other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
-        bool operator<=(const Vector2& other) const noexcept
+        constexpr bool operator<=(const Vector2& other) const noexcept
         {
             return length() <= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
-        bool operator>=(const Vector2& other) const noexcept
+        constexpr bool operator>=(const Vector2& other) const noexcept
         {
             return length() >= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use tuple")]]
         constexpr std::tuple<Type, Type> as_tuple() const noexcept
         {
             return std::make_tuple(x, y);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use array")]]
         constexpr std::array<Type, 2> as_array() const noexcept
         {
             return {x, y};
         }
 #ifdef OMATH_IMGUI_INTEGRATION
-        [[nodiscard]]
+        [[nodiscard("You must use ImVec2")]]
         constexpr ImVec2 to_im_vec2() const noexcept
         {
             return {static_cast<float>(this->x), static_cast<float>(this->y)};
         }
-        [[nodiscard]]
+        [[nodiscard("You must use vector from ImVec2")]]
         static Vector2 from_im_vec2(const ImVec2& other) noexcept
         {
             return {static_cast<Type>(other.x), static_cast<Type>(other.y)};
@@ -241,13 +265,14 @@ namespace omath
     };
 } // namespace omath
 
-template<> struct std::hash<omath::Vector2<float>>
+template<class Type>
+struct std::hash<omath::Vector2<Type>> final // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use hash value")]]
-    std::size_t operator()(const omath::Vector2<float>& vec) const noexcept
+    std::size_t operator()(const omath::Vector2<Type>& vec) const noexcept
     {
         std::size_t hash = 0;
-        constexpr std::hash<float> hasher;
+        constexpr std::hash<Type> hasher;
 
         hash ^= hasher(vec.x) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
         hash ^= hasher(vec.y) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
@@ -257,16 +282,16 @@ template<> struct std::hash<omath::Vector2<float>>
 };
 
 template<class Type>
-struct std::formatter<omath::Vector2<Type>> // NOLINT(*-dcl58-cpp)
+struct std::formatter<omath::Vector2<Type>> final // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
-    static constexpr auto parse(std::format_parse_context& ctx)
+    static constexpr auto parse(std::format_parse_context& ctx) noexcept
     {
         return ctx.begin();
     }
 
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const omath::Vector2<Type>& vec, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/linear_algebra/vector3.hpp

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include "omath/internal/constexpr_math.hpp"
 #include "omath/linear_algebra/vector2.hpp"
 #include "omath/trigonometry/angle.hpp"
 #include <cstdint>
@@ -30,12 +31,22 @@ namespace omath
         }
         constexpr Vector3() noexcept: Vector2<Type>() {};
 
-        [[nodiscard]] constexpr bool operator==(const Vector3& other) const noexcept
+        template<class CastedType>
+        requires std::is_arithmetic_v<CastedType>
+        [[nodiscard("You must use casted vector")]]
+        constexpr explicit operator Vector3<CastedType>() const noexcept
+        {
+            return {static_cast<CastedType>(this->x), static_cast<CastedType>(this->y),
+                    static_cast<CastedType>(this->z)};
+        }
+        [[nodiscard("You must use comparison result")]]
+        constexpr bool operator==(const Vector3& other) const noexcept
         {
             return Vector2<Type>::operator==(other) && (other.z == z);
         }
 
-        [[nodiscard]] constexpr bool operator!=(const Vector3& other) const noexcept
+        [[nodiscard("You must use comparison result")]]
+        constexpr bool operator!=(const Vector3& other) const noexcept
         {
             return !(*this == other);
         }
@@ -111,130 +122,151 @@ namespace omath
 
             return *this;
         }
+        [[nodiscard("You must use absed vector")]]
+        constexpr Vector3 abs() const noexcept
+        {
+            return Vector3{*this}.abs();
+        }
 
-        [[nodiscard]] constexpr Type distance_to_sqr(const Vector3& other) const noexcept
+        [[nodiscard("You must use squared distance")]]
+        constexpr Type distance_to_sqr(const Vector3& other) const noexcept
         {
             return (*this - other).length_sqr();
         }
 
-        [[nodiscard]] constexpr Type dot(const Vector3& other) const noexcept
+        [[nodiscard("You must use dot product")]]
+        constexpr Type dot(const Vector3& other) const noexcept
         {
             return Vector2<Type>::dot(other) + z * other.z;
         }
 
 #ifndef _MSC_VER
-        [[nodiscard]] constexpr Type length() const
+        [[nodiscard("You must use length")]] constexpr Type length() const noexcept
         {
-            return std::hypot(this->x, this->y, z);
+            return internal::hypot(this->x, this->y, z);
         }
 
-        [[nodiscard]] constexpr Type length_2d() const
+        [[nodiscard("You must use 2D length")]] constexpr Type length_2d() const noexcept
         {
             return Vector2<Type>::length();
         }
-        [[nodiscard]] Type distance_to(const Vector3& other) const
+        [[nodiscard("You must use distance")]] constexpr Type distance_to(const Vector3& other) const noexcept
         {
             return (*this - other).length();
         }
-        [[nodiscard]] constexpr Vector3 normalized() const
+        [[nodiscard("You must use normalized vector")]] constexpr Vector3 normalized() const noexcept
         {
             const Type length_value = this->length();
 
             return length_value != 0 ? *this / length_value : *this;
         }
 #else
-        [[nodiscard]] Type length() const noexcept
+        [[nodiscard("You must use length")]]
+        constexpr Type length() const noexcept
         {
-            return std::hypot(this->x, this->y, z);
+            return internal::hypot(this->x, this->y, this->z);
         }
 
-        [[nodiscard]] Vector3 normalized() const noexcept
+        [[nodiscard("You must use normalized vector")]]
+        constexpr Vector3 normalized() const noexcept
         {
             const Type len = this->length();
 
             return len != static_cast<Type>(0) ? *this / len : *this;
         }
 
-        [[nodiscard]] Type length_2d() const noexcept
+        [[nodiscard("You must use 2D length")]]
+        constexpr Type length_2d() const noexcept
         {
             return Vector2<Type>::length();
         }
 
-        [[nodiscard]] Type distance_to(const Vector3& v_other) const noexcept
+        [[nodiscard("You must use distance")]]
+        constexpr Type distance_to(const Vector3& v_other) const noexcept
         {
             return (*this - v_other).length();
         }
 #endif
 
-        [[nodiscard]] constexpr Type length_sqr() const noexcept
+        [[nodiscard("You must use squared length")]]
+        constexpr Type length_sqr() const noexcept
         {
             return Vector2<Type>::length_sqr() + z * z;
         }
 
-        [[nodiscard]] constexpr Vector3 operator-() const noexcept
+        [[nodiscard("You must use negated vector")]]
+        constexpr Vector3 operator-() const noexcept
         {
             return {-this->x, -this->y, -z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator+(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator+(const Vector3& other) const noexcept
         {
             return {this->x + other.x, this->y + other.y, z + other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator-(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator-(const Vector3& other) const noexcept
         {
             return {this->x - other.x, this->y - other.y, z - other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator*(const Type& value) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator*(const Type& value) const noexcept
         {
             return {this->x * value, this->y * value, z * value};
         }
 
-        [[nodiscard]] constexpr Vector3 operator*(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator*(const Vector3& other) const noexcept
         {
             return {this->x * other.x, this->y * other.y, z * other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator/(const Type& value) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator/(const Type& value) const noexcept
         {
             return {this->x / value, this->y / value, z / value};
         }
 
-        [[nodiscard]] constexpr Vector3 operator/(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator/(const Vector3& other) const noexcept
         {
             return {this->x / other.x, this->y / other.y, z / other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 cross(const Vector3& other) const noexcept
+        [[nodiscard("You must use cross product")]]
+        constexpr Vector3 cross(const Vector3& other) const noexcept
         {
             return {this->y * other.z - z * other.y, z * other.x - this->x * other.z,
                     this->x * other.y - this->y * other.x};
         }
 
-        [[nodiscard]] constexpr Type sum() const noexcept
+        [[nodiscard("You must use sum of elements")]]
+        constexpr Type sum() const noexcept
         {
             return sum_2d() + z;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use direction check result")]]
-        bool point_to_same_direction(const Vector3& other) const
+        constexpr bool point_to_same_direction(const Vector3& other) const
         {
             return dot(other) > static_cast<Type>(0);
         }
-        [[nodiscard]] std::expected<Angle<float, 0.f, 180.f, AngleFlags::Clamped>, Vector3Error>
+        [[nodiscard("You must use angle between vectors")]]
+        constexpr std::expected<Angle<float, 0.f, 180.f, AngleFlags::Clamped>, Vector3Error>
         angle_between(const Vector3& other) const noexcept
         {
             const auto bottom = length() * other.length();
 
             if (bottom == static_cast<Type>(0))
                 return std::unexpected(Vector3Error::IMPOSSIBLE_BETWEEN_ANGLE);
-
+            return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::from_radians(internal::acos(dot(other) / bottom));
-            return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::from_radians(std::acos(dot(other) / bottom));
         }
 
-        [[nodiscard]] bool is_perpendicular(const Vector3& other,
+        [[nodiscard("You must use perpendicularity check result")]]
-                                            Type epsilon = static_cast<Type>(0.0001)) const noexcept
+        constexpr bool is_perpendicular(const Vector3& other, Type epsilon = static_cast<Type>(0.0001)) const noexcept
         {
             if (const auto angle = angle_between(other))
                 return std::abs(angle->as_degrees() - static_cast<Type>(90)) <= epsilon;
@@ -242,41 +274,43 @@ namespace omath
             return false;
         }
 
-        [[nodiscard]] constexpr Type sum_2d() const noexcept
+        [[nodiscard("You must use 2D sum")]]
+        constexpr Type sum_2d() const noexcept
         {
             return Vector2<Type>::sum();
         }
 
-        [[nodiscard]] constexpr std::tuple<Type, Type, Type> as_tuple() const noexcept
+        [[nodiscard("You must use tuple")]]
+        constexpr std::tuple<Type, Type, Type> as_tuple() const noexcept
         {
             return std::make_tuple(this->x, this->y, z);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
-        bool operator<(const Vector3& other) const noexcept
+        constexpr bool operator<(const Vector3& other) const noexcept
         {
             return length() < other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
-        bool operator>(const Vector3& other) const noexcept
+        constexpr bool operator>(const Vector3& other) const noexcept
         {
             return length() > other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
-        bool operator<=(const Vector3& other) const noexcept
+        constexpr bool operator<=(const Vector3& other) const noexcept
         {
             return length() <= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
-        bool operator>=(const Vector3& other) const noexcept
+        constexpr bool operator>=(const Vector3& other) const noexcept
         {
             return length() >= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use array")]]
         constexpr std::array<Type, 3> as_array() const noexcept
         {
             return {this->x, this->y, z};
@@ -284,13 +318,15 @@ namespace omath
     };
 } // namespace omath
 
-template<> struct std::hash<omath::Vector3<float>>
+template<class Type>
+struct std::hash<omath::Vector3<Type>> final // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    // NOTE: Cannot be constexpr because of MSVC
-    std::size_t operator()(const omath::Vector3<float>& vec) const noexcept
+    [[nodiscard("You must use hash value")]]
+    std::size_t operator()(const omath::Vector3<Type>& vec) const noexcept
     {
         std::size_t hash = 0;
-        constexpr std::hash<float> hasher;
+        constexpr std::hash<Type> hasher;
 
         hash ^= hasher(vec.x) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
         hash ^= hasher(vec.y) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
@@ -301,16 +337,16 @@ template<> struct std::hash<omath::Vector3<float>>
 };
 
 template<class Type>
-struct std::formatter<omath::Vector3<Type>> // NOLINT(*-dcl58-cpp)
+struct std::formatter<omath::Vector3<Type>> final // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
-    static constexpr auto parse(std::format_parse_context& ctx)
+    static constexpr auto parse(std::format_parse_context& ctx) noexcept
     {
         return ctx.begin();
     }
 
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const omath::Vector3<Type>& vec, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/linear_algebra/vector4.hpp

@@ -21,13 +21,22 @@ namespace omath
         }
         constexpr Vector4() noexcept: Vector3<Type>(), w(static_cast<Type>(0)) {};
 
-        [[nodiscard]]
+
+        template<class CastedType>
+        requires std::is_arithmetic_v<CastedType>
+        [[nodiscard("You must use casted vector")]] constexpr explicit operator Vector4<CastedType>() const noexcept
+        {
+            return {static_cast<CastedType>(this->x), static_cast<CastedType>(this->y),
+                    static_cast<CastedType>(this->z), static_cast<CastedType>(this->w)};
+        }
+
+        [[nodiscard("You must use comparison result")]]
         constexpr bool operator==(const Vector4& other) const noexcept
         {
             return Vector3<Type>::operator==(other) && w == other.w;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         constexpr bool operator!=(const Vector4& other) const noexcept
         {
             return !(*this == other);
@@ -80,17 +89,19 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]] constexpr Type length_sqr() const noexcept
+        [[nodiscard("You must use squared length")]]
+        constexpr Type length_sqr() const noexcept
         {
             return Vector3<Type>::length_sqr() + w * w;
         }
 
-        [[nodiscard]] constexpr Type dot(const Vector4& other) const noexcept
+        [[nodiscard("You must use dot product")]]
+        constexpr Type dot(const Vector4& other) const noexcept
         {
             return Vector3<Type>::dot(other) + w * other.w;
         }
 
-        [[nodiscard]] Type length() const noexcept
+        [[nodiscard("You must use length")]] Type length() const noexcept
         {
             return std::sqrt(length_sqr());
         }
@@ -102,6 +113,11 @@ namespace omath
 
             return *this;
         }
+        [[nodiscard("You must use absed vector")]]
+        constexpr Vector4 abs() const noexcept
+        {
+            return Vector4{*this}.abs();
+        }
         constexpr Vector4& clamp(const Type& min, const Type& max) noexcept
         {
             this->x = std::clamp(this->x, min, max);
@@ -111,86 +127,86 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use negated vector")]]
         constexpr Vector4 operator-() const noexcept
         {
             return {-this->x, -this->y, -this->z, -w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator+(const Vector4& other) const noexcept
         {
             return {this->x + other.x, this->y + other.y, this->z + other.z, w + other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator-(const Vector4& other) const noexcept
         {
             return {this->x - other.x, this->y - other.y, this->z - other.z, w - other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator*(const Type& value) const noexcept
         {
             return {this->x * value, this->y * value, this->z * value, w * value};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator*(const Vector4& other) const noexcept
         {
             return {this->x * other.x, this->y * other.y, this->z * other.z, w * other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator/(const Type& value) const noexcept
         {
             return {this->x / value, this->y / value, this->z / value, w / value};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator/(const Vector4& other) const noexcept
         {
             return {this->x / other.x, this->y / other.y, this->z / other.z, w / other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use sum of elements")]]
         constexpr Type sum() const noexcept
         {
             return Vector3<Type>::sum() + w;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<(const Vector4& other) const noexcept
         {
             return length() < other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>(const Vector4& other) const noexcept
         {
             return length() > other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<=(const Vector4& other) const noexcept
         {
             return length() <= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>=(const Vector4& other) const noexcept
         {
             return length() >= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use array")]]
         constexpr std::array<Type, 4> as_array() const noexcept
         {
             return {this->x, this->y, this->z, w};
         }
 
 #ifdef OMATH_IMGUI_INTEGRATION
-        [[nodiscard]]
+        [[nodiscard("You must use ImVec4")]]
         constexpr ImVec4 to_im_vec4() const noexcept
         {
             return {
@@ -200,7 +216,7 @@ namespace omath
                     static_cast<float>(w),
             };
         }
-        [[nodiscard]]
+        [[nodiscard("You must use vector from ImVec4")]]
         static Vector4<float> from_im_vec4(const ImVec4& other) noexcept
         {
             return {static_cast<Type>(other.x), static_cast<Type>(other.y), static_cast<Type>(other.z)};
@@ -209,13 +225,14 @@ namespace omath
     };
 } // namespace omath
 
-template<> struct std::hash<omath::Vector4<float>>
+template<class Type>
+struct std::hash<omath::Vector4<Type>> final // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use hash value")]]
-    std::size_t operator()(const omath::Vector4<float>& vec) const noexcept
+    std::size_t operator()(const omath::Vector4<Type>& vec) const noexcept
     {
         std::size_t hash = 0;
-        constexpr std::hash<float> hasher;
+        constexpr std::hash<Type> hasher;
 
         hash ^= hasher(vec.x) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
         hash ^= hasher(vec.y) + 0x9e3779b9 + (hash << 6) + (hash >> 2);
@@ -224,17 +241,16 @@ template<> struct std::hash<omath::Vector4<float>>
         return hash;
     }
 };
-
 template<class Type>
-struct std::formatter<omath::Vector4<Type>> // NOLINT(*-dcl58-cpp)
+struct std::formatter<omath::Vector4<Type>> final // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
-    static constexpr auto parse(std::format_parse_context& ctx)
+    static constexpr auto parse(std::format_parse_context& ctx) noexcept
     {
         return ctx.begin();
     }
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const omath::Vector4<Type>& vec, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/lua/lua.hpp

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

include/omath/omath.hpp

@@ -87,6 +87,12 @@
 #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"

include/omath/pathfinding/a_star.hpp

@@ -13,12 +13,12 @@ namespace omath::pathfinding
     class Astar final
     {
     public:
-        [[nodiscard]]
+        [[nodiscard("You forgot to use returned path")]]
         static std::vector<Vector3<float>> find_path(const Vector3<float>& start, const Vector3<float>& end,
                                                      const NavigationMesh& nav_mesh) noexcept;
 
     private:
-        [[nodiscard]]
+        [[nodiscard("You forgot to use reconstructed path")]]
         static std::vector<Vector3<float>>
         reconstruct_final_path(const std::unordered_map<Vector3<float>, PathNode>& closed_list,
                                const Vector3<float>& current) noexcept;

include/omath/pathfinding/walk_bot.hpp

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

include/omath/projectile_prediction/proj_pred_engine.hpp

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

include/omath/projectile_prediction/proj_pred_engine_avx2.hpp

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

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

include/omath/projectile_prediction/projectile.hpp

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

include/omath/projectile_prediction/target.hpp

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