mkdocs improvement

improved outline arguments

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

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

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

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

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

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

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

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

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

@@ -370,6 +370,8 @@ jobs:
         shell: bash
         run: |
           cmake --preset ${{ matrix.preset }} \
+            -DCMAKE_C_COMPILER=$(xcrun --find clang) \
+            -DCMAKE_CXX_COMPILER=$(xcrun --find clang++) \
             -DOMATH_BUILD_TESTS=ON \
             -DOMATH_BUILD_BENCHMARK=OFF \
             -DOMATH_ENABLE_COVERAGE=${{ matrix.coverage == true && 'ON' || 'OFF' }} \
@@ -380,6 +382,7 @@ jobs:
         run: cmake --build cmake-build/build/${{ matrix.preset }} --target unit_tests omath
 
       - name: Run unit_tests
+        if: ${{ matrix.coverage != true }}
         shell: bash
         run: ./out/Release/unit_tests
 

.github/workflows/docs.yml

@@ -0,0 +1,62 @@
+name: Documentation
+
+on:
+  push:
+    branches: [ main ]
+    paths:
+      - 'docs/**'
+      - 'mkdocs.yml'
+      - '.github/workflows/docs.yml'
+  pull_request:
+    branches: [ main ]
+    paths:
+      - 'docs/**'
+      - 'mkdocs.yml'
+      - '.github/workflows/docs.yml'
+
+concurrency:
+  group: docs-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+jobs:
+  build:
+    name: Build Documentation
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Install mkdocs and dependencies
+        run: pip install mkdocs mkdocs-material
+
+      - name: Build documentation
+        run: mkdocs build --strict
+
+      - name: Upload artifact
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: site/
+
+  deploy:
+    name: Deploy to GitHub Pages
+    if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+    needs: build
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

.github/workflows/release.yml

@@ -12,6 +12,35 @@ permissions:
   contents: write
 
 jobs:
+  ##############################################################################
+  # 0)  Documentation  –  MkDocs
+  ##############################################################################
+  docs-release:
+    name: Documentation
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Install mkdocs and dependencies
+        run: pip install mkdocs mkdocs-material
+
+      - name: Build documentation
+        run: mkdocs build --strict
+
+      - name: Package
+        run: tar -czf omath-docs.tar.gz -C site .
+
+      - name: Upload release asset
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: gh release upload "${{ github.event.release.tag_name }}" omath-docs.tar.gz --clobber
+
   ##############################################################################
   # 1)  Linux  –  Clang / Ninja
   ##############################################################################

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

CMakePresets.json

@@ -56,7 +56,9 @@
       "hidden": true,
       "inherits": ["windows-base", "vcpkg-base"],
       "cacheVariables": {
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples"
+        "VCPKG_TARGET_TRIPLET": "x64-windows-static",
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples;hooking",
+        "OMATH_STATIC_MSVC_RUNTIME_LIBRARY": "ON"
       }
     },
     {
@@ -89,9 +91,10 @@
         "strategy": "external"
       },
       "cacheVariables": {
-        "VCPKG_TARGET_TRIPLET": "x86-windows",
+        "VCPKG_TARGET_TRIPLET": "x86-windows-static",
         "VCPKG_HOST_TRIPLET": "x64-windows",
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples"
+        "VCPKG_MANIFEST_FEATURES": "tests;imgui;avx2;examples",
+        "OMATH_STATIC_MSVC_RUNTIME_LIBRARY": "ON"
       }
     },
     {
@@ -114,9 +117,10 @@
         "strategy": "external"
       },
       "cacheVariables": {
-        "VCPKG_TARGET_TRIPLET": "arm64-windows",
-        "VCPKG_HOST_TRIPLET": "arm64-windows",
-        "VCPKG_MANIFEST_FEATURES": "tests;imgui;examples"
+        "VCPKG_TARGET_TRIPLET": "arm64-windows-static",
+        "VCPKG_HOST_TRIPLET": "arm64-windows-static",
+        "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++ knowledge
-- Git knowledge
-- Ability to ask for help (Feel free to create empty pull-request or PM a maintainer
-  in [Telegram](https://t.me/orange_cpp))
+- C++ compiler with C++23 support (Clang 18+, GCC 14+, MSVC 19.38+)
+- CMake 3.25+
+- Git
+- Familiarity with the codebase (see `INSTALL.md` for setup)
 
-### ⏬ 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
-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.
+## Code Style
 
-OMath development is performed on multiple branches. Changes are then pull requested into master. By default, changes
-merged into master will not roll out to stable build users unless the `stable` tag is updated.
+Follow the project `.clang-format`. Run `clang-format` before committing.
 
-### 📜 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
-can build OMath by running `cmake --build cmake-build/build/windows-release --target omath -j 6` in the source
-directory.
+Run `cmake --list-presets` to see available configurations.
+
+## Tests
+
+All new functionality must include unit tests. Run the test binary after building to verify nothing is broken.

CREDITS.md

@@ -3,7 +3,6 @@
 Thanks to everyone who made this possible, including:
 
 - Saikari aka luadebug for VCPKG port and awesome new initial logo design.
-- AmbushedRaccoon for telegram post about omath to boost repository activity.
 - 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
 

INSTALL.md

@@ -28,6 +28,29 @@ target("...")
     add_packages("omath")
 ```
 
+## <img width="28px" src="https://conan.io/favicon.png" /> Using Conan
+**Note**: Support Conan for package management
+1. Install [Conan](https://conan.io/downloads)
+2. Run the following command to install the omath package:
+```
+conan install --requires="omath/[*]" --build=missing
+```
+conanfile.txt
+```ini
+[requires]
+omath/[*]
+
+[generators]
+CMakeDeps
+CMakeToolchain
+```
+CMakeLists.txt
+```cmake
+find_package(omath CONFIG REQUIRED)
+target_link_libraries(main PRIVATE omath::omath)
+```
+For more details, see the [Conan documentation](https://docs.conan.io/2/).
+
 ## <img width="28px" src="https://github.githubassets.com/favicons/favicon.svg" /> Using prebuilt binaries (GitHub Releases)
 
 **Note**: This is the fastest option if you don’t want to build from source.

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
+5.2.0

benchmark/benchmark_projectile_pred.cpp

@@ -12,11 +12,11 @@ constexpr float hit_distance_tolerance = 5.f;
 
 void source_engine_projectile_prediction(benchmark::State& state)
 {
-    constexpr Target target{.m_origin = {100, 0, 90}, .m_velocity = {0, 0, 0}, .m_is_airborne = false};
-    constexpr Projectile projectile = {.m_origin = {3, 2, 1}, .m_launch_speed = 5000, .m_gravity_scale = 0.4};
+    constexpr Target<float> target{.m_origin = {100, 0, 90}, .m_velocity = {0, 0, 0}, .m_is_airborne = false};
+    constexpr Projectile<float> projectile = {.m_origin = {3, 2, 1}, .m_launch_speed = 5000.f, .m_gravity_scale = 0.4f};
 
     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);
 }
 

docs/install.md

@@ -1,6 +1,6 @@
-# Installation
+# Installation Guide
 
-## <img width="28px" src="https://vcpkg.io/assets/mark/mark.svg" /> Using vcpkg
+## <img width="28px" src="https://vcpkg.io/assets/mark/mark.svg" /> Using vcpkg (recomended)
 **Note**: Support vcpkg for package management
 1. Install [vcpkg](https://github.com/microsoft/vcpkg)
 2. Run the following command to install the orange-math package:
@@ -28,6 +28,69 @@ target("...")
     add_packages("omath")
 ```
 
+## <img width="28px" src="https://conan.io/favicon.png" /> Using Conan
+**Note**: Support Conan for package management
+1. Install [Conan](https://conan.io/downloads)
+2. Run the following command to install the omath package:
+```
+conan install --requires="omath/[*]" --build=missing
+```
+conanfile.txt
+```ini
+[requires]
+omath/[*]
+
+[generators]
+CMakeDeps
+CMakeToolchain
+```
+CMakeLists.txt
+```cmake
+find_package(omath CONFIG REQUIRED)
+target_link_libraries(main PRIVATE omath::omath)
+```
+For more details, see the [Conan documentation](https://docs.conan.io/2/).
+
+## <img width="28px" src="https://github.githubassets.com/favicons/favicon.svg" /> Using prebuilt binaries (GitHub Releases)
+
+**Note**: This is the fastest option if you don’t want to build from source.
+
+1. **Go to the Releases page**
+    - Open the project’s GitHub **Releases** page and choose the latest version.
+
+2. **Download the correct asset for your platform**
+    - Pick the archive that matches your OS and architecture (for example: Windows x64 / Linux x64 / macOS arm64).
+
+3. **Extract the archive**
+    - You should end up with something like:
+        - `include/` (headers)
+        - `lib/` or `bin/` (library files / DLLs)
+        - sometimes `cmake/` (CMake package config)
+
+4. **Use it in your project**
+
+   ### Option A: CMake package (recommended if the release includes CMake config files)
+   If the extracted folder contains something like `lib/cmake/omath` or `cmake/omath`, you can point CMake to it:
+
+   ```cmake
+   # Example: set this to the extracted prebuilt folder
+   list(APPEND CMAKE_PREFIX_PATH "path/to/omath-prebuilt")
+
+   find_package(omath CONFIG REQUIRED)
+   target_link_libraries(main PRIVATE omath::omath)
+   ```
+   ### Option B: Manual include + link (works with any layout)
+   If there’s no CMake package config, link it manually:
+   ```cmake
+   target_include_directories(main PRIVATE "path/to/omath-prebuilt/include")
+
+    # Choose ONE depending on what you downloaded:
+    # - Static library: .lib / .a
+    # - Shared library: .dll + .lib import (Windows), .so (Linux), .dylib (macOS)
+    
+    target_link_directories(main PRIVATE "path/to/omath-prebuilt/lib")
+    target_link_libraries(main PRIVATE omath)  # or the actual library filename
+    ```
 ## <img width="28px" src="https://upload.wikimedia.org/wikipedia/commons/e/ef/CMake_logo.svg?" /> Build from source using CMake
 1. **Preparation**
 
@@ -62,7 +125,7 @@ target("...")
    Use **\<platform\>-\<build configuration\>** preset to build suitable version for yourself. Like **windows-release** or **linux-release**.
 
    | Platform Name | Build Config  |
-          |---------------|---------------|
+       |---------------|---------------|
    | windows       | release/debug |
    | linux         | release/debug |
    | darwin        | release/debug |

docs/styles/custom-header.css

@@ -1,11 +1,18 @@
-/* Widen the navbar container */
-.navbar .container {
-    max-width: 100%;   /* adjust to your target width */
-    width: 95%;
+/* Material header tweaks */
+.md-header,
+.md-tabs {
+    background-color: #101014;
 }
 
-/* Tighter spacing between navbar items */
-.navbar-nav > li > a {
-    padding-left: 8px;
-    padding-right: 8px;
+.md-header {
+    border-bottom: 1px solid rgba(255, 152, 0, 0.28);
+}
+
+.md-tabs {
+    border-bottom: 1px solid rgba(255, 152, 0, 0.16);
+}
+
+.md-tabs__link--active,
+.md-tabs__link:hover {
+    color: #ffb74d;
 }

docs/styles/links.css

@@ -1,65 +1,44 @@
-/* Normal links */
-a {
-    color: orange;
+/* Material dark palette overrides */
+[data-md-color-scheme="slate"] {
+    --md-default-bg-color: #0f1117;
+    --md-default-fg-color: #e8eaed;
+    --md-primary-fg-color: #101014;
+    --md-primary-fg-color--light: #1a1a21;
+    --md-primary-fg-color--dark: #09090d;
+    --md-accent-fg-color: #ff9800;
+    --md-accent-fg-color--transparent: rgba(255, 152, 0, 0.14);
+    --md-typeset-a-color: #ffb74d;
+    --md-code-bg-color: #171a22;
+    --md-code-fg-color: #f5f7fa;
 }
 
-
-/* On hover/focus */
-a:hover,
-a:focus {
-    color: #ff9900; /* a slightly different orange, optional */
-}
-/* Navbar background */
-.navbar,
-.navbar-default,
-.navbar-inverse {
-    background-color: #a26228   !important;  /* your orange */
-    border-color: #ff6600 !important;
+.md-typeset a {
+    color: var(--md-typeset-a-color);
 }
 
-/* Navbar brand + links */
-.navbar .navbar-brand,
-.navbar .navbar-nav > li > a {
-    color: #ffffff !important;
+.md-typeset a:hover,
+.md-typeset a:focus {
+    color: #ffd180;
 }
 
-/* Active and hover states */
-.navbar .navbar-nav > .active > a,
-.navbar .navbar-nav > .active > a:focus,
-.navbar .navbar-nav > .active > a:hover,
-.navbar .navbar-nav > li > a:hover,
-.navbar .navbar-nav > li > a:focus {
-    color: #ffffff !important;
-}
-/* === DROPDOWN MENU BACKGROUND === */
-.navbar .dropdown-menu {
-    border-color: #ff6600 !important;
+.md-tabs__item--active > .md-tabs__link,
+.md-tabs__link:hover,
+.md-nav__link:hover,
+.md-nav__link:focus,
+.md-nav__link--active,
+.md-nav__item .md-nav__link--active {
+    color: #ffb74d;
 }
 
-/* Caret icon (the little triangle) */
-.navbar .dropdown-toggle .caret {
-    border-top-color: #ffffff !important;
-    border-bottom-color: #ffffff !important;
+.md-typeset .md-button {
+    border-color: #ff9800;
+    color: #ffb74d;
 }
 
-/* === BOOTSTRAP 3 STYLE ITEMS (mkdocs + bootswatch darkly often use this) === */
-.navbar .dropdown-menu > li > a {
-    color: #ffffff !important;
-}
-
-.navbar .dropdown-menu > li > a:hover,
-.navbar .dropdown-menu > li > a:focus {
-    background-color: #e65c00 !important; /* darker orange on hover */
-    color: #ffffff !important;
-}
-
-/* === BOOTSTRAP 4+ STYLE ITEMS (if your theme uses .dropdown-item) === */
-.navbar .dropdown-item {
-    color: #ffffff !important;
-}
-
-.navbar .dropdown-item:hover,
-.navbar .dropdown-item:focus {
-    background-color: #e65c00 !important;
-    color: #ffffff !important;
+.md-typeset .md-button:hover,
+.md-typeset .md-button:focus,
+.md-typeset .md-button--primary {
+    background-color: #ff9800;
+    border-color: #ff9800;
+    color: #111111;
 }

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

examples/example_dx12_hook/CMakeLists.txt

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

examples/example_dx12_hook/dllmain.cpp

@@ -0,0 +1,254 @@
+#include "omath/hooks/hooks_manager.hpp"
+#include <Windows.h>
+#include <d3d12.h>
+#include <dxgi1_4.h>
+#include <imgui.h>
+#include <imgui_impl_dx12.h>
+#include <imgui_impl_win32.h>
+#include <tuple>
+#include <vector>
+
+extern IMGUI_IMPL_API LRESULT ImGui_ImplWin32_WndProcHandler(HWND, UINT, WPARAM, LPARAM);
+bool show_menu = true;
+
+namespace
+{
+    struct frame_context
+    {
+        ID3D12Resource* render_target = nullptr;
+        D3D12_CPU_DESCRIPTOR_HANDLE rtv_handle = {};
+    };
+
+    bool g_initialized = false;
+    bool g_init_attempted = false;
+
+    ID3D12Device* g_device = nullptr;
+    ID3D12CommandQueue* g_command_queue = nullptr;
+    IDXGISwapChain3* g_swap_chain = nullptr;
+    ID3D12DescriptorHeap* g_rtv_heap = nullptr;
+    ID3D12DescriptorHeap* g_srv_heap = nullptr;
+    ID3D12GraphicsCommandList* g_command_list = nullptr;
+    ID3D12CommandAllocator* g_command_allocator = nullptr;
+    std::vector<frame_context> g_frames;
+
+    void init(IDXGISwapChain* swap_chain)
+    {
+        g_init_attempted = true;
+
+        if (FAILED(swap_chain->QueryInterface(IID_PPV_ARGS(&g_swap_chain))))
+            return;
+
+        if (FAILED(swap_chain->GetDevice(IID_PPV_ARGS(&g_device))))
+            return;
+
+        DXGI_SWAP_CHAIN_DESC desc{};
+        swap_chain->GetDesc(&desc);
+        const UINT buffer_count = desc.BufferCount;
+
+        {
+            D3D12_DESCRIPTOR_HEAP_DESC heap_desc{};
+            heap_desc.Type = D3D12_DESCRIPTOR_HEAP_TYPE_CBV_SRV_UAV;
+            heap_desc.NumDescriptors = buffer_count;
+            heap_desc.Flags = D3D12_DESCRIPTOR_HEAP_FLAG_SHADER_VISIBLE;
+            if (FAILED(g_device->CreateDescriptorHeap(&heap_desc, IID_PPV_ARGS(&g_srv_heap))))
+                return;
+        }
+        {
+            D3D12_DESCRIPTOR_HEAP_DESC heap_desc{};
+            heap_desc.Type = D3D12_DESCRIPTOR_HEAP_TYPE_RTV;
+            heap_desc.NumDescriptors = buffer_count;
+            heap_desc.Flags = D3D12_DESCRIPTOR_HEAP_FLAG_NONE;
+            heap_desc.NodeMask = 1;
+            if (FAILED(g_device->CreateDescriptorHeap(&heap_desc, IID_PPV_ARGS(&g_rtv_heap))))
+                return;
+        }
+
+        if (FAILED(g_device->CreateCommandAllocator(D3D12_COMMAND_LIST_TYPE_DIRECT,
+                                                    IID_PPV_ARGS(&g_command_allocator))))
+            return;
+
+        g_frames.resize(buffer_count);
+        const UINT rtv_size = g_device->GetDescriptorHandleIncrementSize(D3D12_DESCRIPTOR_HEAP_TYPE_RTV);
+        D3D12_CPU_DESCRIPTOR_HANDLE rtv_handle = g_rtv_heap->GetCPUDescriptorHandleForHeapStart();
+
+        for (UINT i = 0; i < buffer_count; ++i)
+        {
+            g_frames[i].rtv_handle = rtv_handle;
+            if (FAILED(swap_chain->GetBuffer(i, IID_PPV_ARGS(&g_frames[i].render_target))))
+                return;
+            g_device->CreateRenderTargetView(g_frames[i].render_target, nullptr, rtv_handle);
+            rtv_handle.ptr += rtv_size;
+        }
+
+        if (FAILED(g_device->CreateCommandList(0, D3D12_COMMAND_LIST_TYPE_DIRECT, g_command_allocator, nullptr,
+                                               IID_PPV_ARGS(&g_command_list))))
+            return;
+        g_command_list->Close();
+
+        ImGui::CreateContext();
+        ImGui::StyleColorsDark();
+        ImGui::GetIO().IniFilename = nullptr;
+        ImGui::GetIO().LogFilename = nullptr;
+        ImGui::GetIO().ConfigFlags |= ImGuiConfigFlags_NavEnableKeyboard;
+
+        ImGui_ImplWin32_Init(desc.OutputWindow);
+        ImGui_ImplDX12_Init(g_device, static_cast<int>(buffer_count), desc.BufferDesc.Format, g_srv_heap,
+                            g_srv_heap->GetCPUDescriptorHandleForHeapStart(),
+                            g_srv_heap->GetGPUDescriptorHandleForHeapStart());
+        ImGui_ImplDX12_CreateDeviceObjects();
+
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.set_on_wnd_proc(
+                [](HWND h, UINT msg, WPARAM wp, LPARAM lp) -> std::optional<LRESULT>
+                {
+                    if (!show_menu)
+                        return std::nullopt;
+
+                    ImGui_ImplWin32_WndProcHandler(h, msg, wp, lp);
+                    return true;
+                });
+        std::ignore = mgr.hook_wnd_proc(desc.OutputWindow);
+
+        g_initialized = true;
+    }
+
+    void on_execute_command_lists(ID3D12CommandQueue* queue, UINT, ID3D12CommandList* const*)
+    {
+        if (!g_command_queue)
+            g_command_queue = queue;
+    }
+
+    void on_present(IDXGISwapChain* swap_chain, UINT, UINT)
+    {
+        if (!g_initialized)
+        {
+            if (!g_init_attempted && g_command_queue)
+                init(swap_chain);
+            return;
+        }
+
+        if (!g_command_queue)
+            return;
+
+        if (GetAsyncKeyState(VK_INSERT) & 1)
+            show_menu = !show_menu;
+
+        if (!show_menu)
+            return;
+
+        ImGui_ImplDX12_NewFrame();
+        ImGui_ImplWin32_NewFrame();
+        ImGui::NewFrame();
+        ImGui::GetIO().MouseDrawCursor = true;
+        ImGui::ShowDemoWindow();
+        ImGui::EndFrame();
+
+        const UINT buf_idx = g_swap_chain->GetCurrentBackBufferIndex();
+        auto& fc = g_frames[buf_idx];
+
+        g_command_allocator->Reset();
+        g_command_list->Reset(g_command_allocator, nullptr);
+
+        D3D12_RESOURCE_BARRIER barrier{};
+        barrier.Type = D3D12_RESOURCE_BARRIER_TYPE_TRANSITION;
+        barrier.Flags = D3D12_RESOURCE_BARRIER_FLAG_NONE;
+        barrier.Transition.pResource = fc.render_target;
+        barrier.Transition.Subresource = D3D12_RESOURCE_BARRIER_ALL_SUBRESOURCES;
+        barrier.Transition.StateBefore = D3D12_RESOURCE_STATE_PRESENT;
+        barrier.Transition.StateAfter = D3D12_RESOURCE_STATE_RENDER_TARGET;
+        g_command_list->ResourceBarrier(1, &barrier);
+        g_command_list->OMSetRenderTargets(1, &fc.rtv_handle, FALSE, nullptr);
+        g_command_list->SetDescriptorHeaps(1, &g_srv_heap);
+
+        ImGui::Render();
+        ImGui_ImplDX12_RenderDrawData(ImGui::GetDrawData(), g_command_list);
+
+        barrier.Transition.StateBefore = D3D12_RESOURCE_STATE_RENDER_TARGET;
+        barrier.Transition.StateAfter = D3D12_RESOURCE_STATE_PRESENT;
+        g_command_list->ResourceBarrier(1, &barrier);
+        g_command_list->Close();
+
+        ID3D12CommandList* cmd_lists[] = {g_command_list};
+        g_command_queue->ExecuteCommandLists(1, cmd_lists);
+    }
+
+    void release_dx12_resources()
+    {
+        for (auto& fc : g_frames)
+        {
+            if (fc.render_target)
+            {
+                fc.render_target->Release();
+                fc.render_target = nullptr;
+            }
+        }
+        g_frames.clear();
+        if (g_command_allocator)
+        {
+            g_command_allocator->Release();
+            g_command_allocator = nullptr;
+        }
+        if (g_command_list)
+        {
+            g_command_list->Release();
+            g_command_list = nullptr;
+        }
+        if (g_srv_heap)
+        {
+            g_srv_heap->Release();
+            g_srv_heap = nullptr;
+        }
+        if (g_rtv_heap)
+        {
+            g_rtv_heap->Release();
+            g_rtv_heap = nullptr;
+        }
+        if (g_swap_chain)
+        {
+            g_swap_chain->Release();
+            g_swap_chain = nullptr;
+        }
+        if (g_device)
+        {
+            g_device->Release();
+            g_device = nullptr;
+        }
+    }
+} // namespace
+
+BOOL WINAPI DllMain(HINSTANCE h_instance, DWORD reason, LPVOID)
+{
+    if (reason == DLL_PROCESS_ATTACH)
+    {
+        DisableThreadLibraryCalls(h_instance);
+        CreateThread(
+                nullptr, 0,
+                [](LPVOID) -> DWORD
+                {
+                    while (!GetModuleHandle("d3d12.dll"))
+                        Sleep(100);
+
+                    auto& mgr = omath::hooks::HooksManager::get();
+                    mgr.set_on_present(on_present);
+                    mgr.set_on_execute_command_lists(on_execute_command_lists);
+                    std::ignore = mgr.hook_dx12();
+                    return 0;
+                },
+                nullptr, 0, nullptr);
+    }
+    else if (reason == DLL_PROCESS_DETACH)
+    {
+        auto& mgr = omath::hooks::HooksManager::get();
+        mgr.unhook_wnd_proc();
+        mgr.unhook_dx12();
+
+        if (g_initialized)
+        {
+            ImGui_ImplDX12_Shutdown();
+            ImGui_ImplWin32_Shutdown();
+            ImGui::DestroyContext();
+        }
+        release_dx12_resources();
+    }
+    return TRUE;
+}

examples/example_dx9_hook/CMakeLists.txt

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

examples/example_dx9_hook/dllmain.cpp

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

examples/example_glfw3/example_glfw3.cpp

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

examples/example_hud/gui/main_window.cpp

@@ -71,6 +71,7 @@ namespace imgui_desktop::gui
             ImGui::SliderFloat("X##ent", &m_entity_x, 100.f, vp->Size.x - 100.f);
             ImGui::SliderFloat("Top Y", &m_entity_top_y, 20.f, m_entity_bottom_y - 20.f);
             ImGui::SliderFloat("Bottom Y", &m_entity_bottom_y, m_entity_top_y + 20.f, vp->Size.y - 20.f);
+            ImGui::SliderFloat("Aspect", &m_entity_aspect, 1.f, 10.f);
         }
 
         if (ImGui::CollapsingHeader("Box", ImGuiTreeNodeFlags_DefaultOpen))
@@ -82,6 +83,7 @@ namespace imgui_desktop::gui
             ImGui::Checkbox("Dashed", &m_show_dashed_box);
             ImGui::ColorEdit4("Color##box", reinterpret_cast<float*>(&m_box_color), ImGuiColorEditFlags_NoInputs);
             ImGui::ColorEdit4("Fill##box", reinterpret_cast<float*>(&m_box_fill), ImGuiColorEditFlags_NoInputs);
+            ImGui::ColorEdit4("Outline##box", reinterpret_cast<float*>(&m_box_outline), ImGuiColorEditFlags_NoInputs);
             ImGui::SliderFloat("Thickness", &m_box_thickness, 0.5f, 5.f);
             ImGui::SliderFloat("Corner ratio", &m_corner_ratio, 0.05f, 0.5f);
             ImGui::Separator();
@@ -195,58 +197,76 @@ namespace imgui_desktop::gui
         const DashedBar dbar{m_bar_color, m_bar_outline_color, m_bar_bg_color, m_bar_width,
                              m_bar_value, m_bar_dash_len,      m_bar_dash_gap, m_bar_offset};
 
-        omath::hud::EntityOverlay({m_entity_x, m_entity_top_y}, {m_entity_x, m_entity_bottom_y},
+        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(
                         // ── Boxes ────────────────────────────────────────────────────
-                        when(m_show_box, Box{m_box_color, m_box_fill, m_box_thickness}),
+                        when(m_show_box, Box{m_box_color, m_box_fill, m_box_outline, m_box_thickness}),
                         when(m_show_cornered_box, CorneredBox{omath::Color::from_rgba(255, 0, 255, 255), m_box_fill,
-                                                              m_corner_ratio, m_box_thickness}),
+                                                              m_box_outline, m_corner_ratio, m_box_thickness}),
                         when(m_show_dashed_box, DashedBox{m_dash_color, m_dash_len, m_dash_gap, m_dash_thickness}),
                         RightSide{
                                 when(m_show_right_bar, bar),
                                 when(m_show_right_dashed_bar, dbar),
-                                when(m_show_right_labels,
-                                     Label{{0.f, 1.f, 0.f, 1.f}, m_label_offset, m_outlined, "Health: 100/100"}),
-                                when(m_show_right_labels,
-                                     Label{{1.f, 0.f, 0.f, 1.f}, m_label_offset, m_outlined, "Shield: 125/125"}),
-                                when(m_show_right_labels,
-                                     Label{{1.f, 0.f, 1.f, 1.f}, m_label_offset, m_outlined, "*LOCKED*"}),
+                                when(m_show_right_labels, Label{{0.f, 1.f, 0.f, 1.f},
+                                                                m_label_offset,
+                                                                outline_helper(m_outlined),
+                                                                "Health: 100/100"}),
+                                when(m_show_right_labels, Label{{1.f, 0.f, 0.f, 1.f},
+                                                                m_label_offset,
+                                                                outline_helper(m_outlined),
+                                                                "Shield: 125/125"}),
+                                when(m_show_right_labels, Label{{1.f, 0.f, 1.f, 1.f},
+                                                                m_label_offset,
+                                                                outline_helper(m_outlined),
+                                                                "*LOCKED*"}),
 
-                            SpaceVertical{10},
+                                SpaceVertical{10},
                                 when(m_show_ring, ProgressRing{m_ring_color, m_ring_bg, m_ring_radius, m_ring_ratio,
                                                                m_ring_thickness, m_ring_offset}),
                         },
                         LeftSide{
                                 when(m_show_left_bar, bar),
                                 when(m_show_left_dashed_bar, dbar),
-                                when(m_show_left_labels, Label{omath::Color::from_rgba(255, 128, 0, 255),
-                                                               m_label_offset, m_outlined, "Armor: 75"}),
-                                when(m_show_left_labels, Label{omath::Color::from_rgba(0, 200, 255, 255),
-                                                               m_label_offset, m_outlined, "Level: 42"}),
+                                when(m_show_left_labels,
+                                     Label{omath::Color::from_rgba(255, 128, 0, 255), m_label_offset,
+                                           outline_helper(m_outlined), "Armor: 75"}),
+                                when(m_show_left_labels,
+                                     Label{omath::Color::from_rgba(0, 200, 255, 255), m_label_offset,
+                                           outline_helper(m_outlined), "Level: 42"}),
                         },
                         TopSide{
                                 when(m_show_top_bar, bar),
                                 when(m_show_top_dashed_bar, dbar),
-                                when(m_show_centered_top, Centered{Label{omath::Color::from_rgba(0, 255, 255, 255),
-                                                                         m_label_offset, m_outlined, "*VISIBLE*"}}),
+                                when(m_show_centered_top,
+                                     Centered{Label{omath::Color::from_rgba(0, 255, 255, 255), m_label_offset,
+                                                    outline_helper(m_outlined), "*VISIBLE*"}}),
                                 when(m_show_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),
-                                                                            m_label_offset, m_outlined, "PlayerName"}}),
+                                when(m_show_centered_bottom,
+                                     Centered{Label{omath::Color::from_rgba(255, 255, 255, 255), m_label_offset,
+                                                    outline_helper(m_outlined), "PlayerName"}}),
                                 when(m_show_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_proj, ProjectileAim{{m_proj_pos_x, m_proj_pos_y}, m_proj_color, m_proj_size, m_proj_line_width, static_cast<ProjectileAim::Figure>(m_proj_figure)}),
+                        when(m_show_proj, ProjectileAim{{m_proj_pos_x, m_proj_pos_y},
+                                                        m_proj_color,
+                                                        m_proj_size,
+                                                        m_proj_line_width,
+                                                        static_cast<ProjectileAim::Figure>(m_proj_figure)}),
                         when(m_show_snap, SnapLine{{vp->Size.x / 2.f, vp->Size.y}, m_snap_color, m_snap_width}));
     }
 

examples/example_hud/gui/main_window.hpp

@@ -26,11 +26,11 @@ namespace imgui_desktop::gui
         bool m_opened = true;
 
         // Entity
-        float m_entity_x = 550.f, m_entity_top_y = 150.f, m_entity_bottom_y = 450.f;
-
+        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_outline{0.f, 0.f, 0.f, 0.f};
         float m_box_thickness = 1.f, m_corner_ratio = 0.2f;
         bool m_show_box = true, m_show_cornered_box = true, m_show_dashed_box = false;
 

examples/example_opengl_hook/CMakeLists.txt

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

examples/example_opengl_hook/dllmain.cpp

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

include/omath/3d_primitives/aabb.hpp

@@ -0,0 +1,67 @@
+//
+// Created by Vladislav on 24.03.2026.
+//
+
+#pragma once
+#include "omath/linear_algebra/vector3.hpp"
+
+namespace omath::primitives
+{
+    enum class UpAxis { X, Y, Z };
+
+    template<class Type>
+    struct Aabb final
+    {
+        Vector3<Type> min;
+        Vector3<Type> max;
+
+        [[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);
+        }
+
+        template<UpAxis Up = UpAxis::Y>
+        [[nodiscard]]
+        constexpr Vector3<Type> top() const noexcept
+        {
+            const auto aabb_center = center();
+            if constexpr (Up == UpAxis::Z)
+                return {aabb_center.x, aabb_center.y, max.z};
+            else if constexpr (Up == UpAxis::X)
+                return {max.x, aabb_center.y, aabb_center.z};
+            else if constexpr (Up == UpAxis::Y)
+                return {aabb_center.x, max.y, aabb_center.z};
+            else
+                std::unreachable();
+        }
+
+        template<UpAxis Up = UpAxis::Y>
+        [[nodiscard]]
+        constexpr Vector3<Type> bottom() const noexcept
+        {
+            const auto aabb_center = center();
+            if constexpr (Up == UpAxis::Z)
+                return {aabb_center.x, aabb_center.y, min.z};
+            else if constexpr (Up == UpAxis::X)
+                return {min.x, aabb_center.y, aabb_center.z};
+            else if constexpr (Up == UpAxis::Y)
+                return {aabb_center.x, min.y, aabb_center.z};
+            else
+                std::unreachable();
+        }
+
+        [[nodiscard]]
+        constexpr bool is_collide(const Aabb& other) const noexcept
+        {
+            return min.x <= other.max.x && max.x >= other.min.x &&
+                min.y <= other.max.y && max.y >= other.min.y &&min.z <= other.max.z && max.z >= other.min.z;
+        }
+    };
+} // namespace omath::primitives

include/omath/3d_primitives/obb.hpp

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

include/omath/algorithm/targeting.hpp

@@ -0,0 +1,98 @@
+//
+// Created by Vladislav on 19.03.2026.
+//
+
+#pragma once
+#include "omath/linear_algebra/vector3.hpp"
+#include <functional>
+#include <iterator>
+#include <optional>
+#include <ranges>
+
+namespace omath::algorithm
+{
+    template<class CameraType, std::input_or_output_iterator IteratorType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>, std::iter_reference_t<IteratorType>>
+    [[nodiscard]]
+    IteratorType get_closest_target_by_fov(const IteratorType& begin, const IteratorType& end, const CameraType& camera,
+                                           auto get_position,
+                                           const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        auto best_target = end;
+        const auto& camera_angles = camera.get_view_angles();
+        const Vector2<float> camera_angles_vec = {camera_angles.pitch.as_degrees(), camera_angles.yaw.as_degrees()};
+
+        for (auto current = begin; current != end; current = std::next(current))
+        {
+            if (filter_func && !filter_func.value()(*current))
+                continue;
+
+            if (best_target == end)
+            {
+                best_target = current;
+                continue;
+            }
+            const auto current_target_angles = camera.calc_look_at_angles(get_position(*current));
+            const auto best_target_angles = camera.calc_look_at_angles(get_position(*best_target));
+
+            const auto current_target_distance = camera_angles_vec.distance_to(current_target_angles.as_vector3());
+            const auto best_target_distance = camera_angles.as_vector3().distance_to(best_target_angles.as_vector3());
+            if (current_target_distance < best_target_distance)
+                best_target = current;
+        }
+        return best_target;
+    }
+
+    template<class CameraType, std::ranges::range RangeType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>,
+                                   std::ranges::range_reference_t<const RangeType>>
+    [[nodiscard]]
+    auto get_closest_target_by_fov(const RangeType& range, const CameraType& camera,
+                                   auto get_position,
+                                   const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        return get_closest_target_by_fov<CameraType, decltype(std::ranges::begin(range)), FilterT>(
+                std::ranges::begin(range), std::ranges::end(range), camera, get_position, filter_func);
+    }
+
+    // ── By world-space distance ───────────────────────────────────────────────
+
+    template<std::input_or_output_iterator IteratorType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>, std::iter_reference_t<IteratorType>>
+    [[nodiscard]]
+    IteratorType get_closest_target_by_distance(const IteratorType& begin, const IteratorType& end,
+                                                const Vector3<float>& origin, auto get_position,
+                                                const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        auto best_target = end;
+
+        for (auto current = begin; current != end; current = std::next(current))
+        {
+            if (filter_func && !filter_func.value()(*current))
+                continue;
+
+            if (best_target == end)
+            {
+                best_target = current;
+                continue;
+            }
+
+            if (origin.distance_to(get_position(*current)) < origin.distance_to(get_position(*best_target)))
+                best_target = current;
+        }
+        return best_target;
+    }
+
+    template<std::ranges::range RangeType, class FilterT>
+    requires std::is_invocable_r_v<bool, std::function<FilterT>,
+                                   std::ranges::range_reference_t<const RangeType>>
+    [[nodiscard]]
+    auto get_closest_target_by_distance(const RangeType& range, const Vector3<float>& origin,
+                                        auto get_position,
+                                        const std::optional<std::function<FilterT>>& filter_func = std::nullopt)
+    {
+        return get_closest_target_by_distance<decltype(std::ranges::begin(range)), FilterT>(
+                std::ranges::begin(range), std::ranges::end(range), origin, get_position, filter_func);
+    }
+
+} // 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

@@ -22,7 +22,17 @@ namespace omath::cry_engine
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::ZERO_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::cry_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::cry_engine

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

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

include/omath/engines/frostbite_engine/camera.hpp

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

include/omath/engines/frostbite_engine/formulas.hpp

@@ -22,7 +22,17 @@ namespace omath::frostbite_engine
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::frostbite_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unreal_engine

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

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

include/omath/engines/iw_engine/camera.hpp

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

include/omath/engines/iw_engine/formulas.hpp

@@ -19,10 +19,20 @@ namespace omath::iw_engine
     [[nodiscard]]
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
+    [[nodiscard]]
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
     [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::iw_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::iw_engine

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

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

include/omath/engines/opengl_engine/camera.hpp

@@ -8,5 +8,5 @@
 
 namespace omath::opengl_engine
 {
-    using Camera =  projection::Camera<Mat4X4, ViewAngles, CameraTrait, true>;
+    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

@@ -21,7 +21,17 @@ namespace omath::opengl_engine
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::opengl_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::opengl_engine

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

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

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

include/omath/engines/rage_engine/mesh.hpp

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

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

@@ -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]]
+        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 +1,76 @@
+//
+// Created by Orange on 6/3/2026.
+//
+
+#pragma once
+#include "omath/engines/rage_engine/formulas.hpp"
+#include "omath/projectile_prediction/projectile.hpp"
+#include "omath/projectile_prediction/target.hpp"
+#include <optional>
+
+namespace omath::rage_engine
+{
+    class PredEngineTrait final
+    {
+    public:
+        constexpr static Vector3<float>
+        predict_projectile_position(const projectile_prediction::Projectile<float>& projectile, const float pitch,
+                                    const float yaw, const float time, const float gravity) noexcept
+        {
+            const auto launch_pos = projectile.m_origin + projectile.m_launch_offset;
+            auto current_pos = launch_pos
+                               + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+                                                 RollAngle::from_degrees(0)})
+                                         * projectile.m_launch_speed * time;
+            current_pos.z -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
+
+            return current_pos;
+        }
+        [[nodiscard]]
+        static constexpr Vector3<float> predict_target_position(const projectile_prediction::Target<float>& target,
+                                                                const float time, const float gravity) noexcept
+        {
+            auto predicted = target.m_origin + target.m_velocity * time;
+
+            if (target.m_is_airborne)
+                predicted.z -= gravity * (time * time) * 0.5f;
+
+            return predicted;
+        }
+        [[nodiscard]]
+        static float calc_vector_2d_distance(const Vector3<float>& delta) noexcept
+        {
+            return std::sqrt(delta.x * delta.x + delta.y * delta.y);
+        }
+
+        [[nodiscard]]
+        constexpr static float get_vector_height_coordinate(const Vector3<float>& vec) noexcept
+        {
+            return vec.z;
+        }
+
+        [[nodiscard]]
+        static Vector3<float> calc_viewpoint_from_angles(const projectile_prediction::Projectile<float>& projectile,
+                                                         Vector3<float> predicted_target_position,
+                                                         const std::optional<float> projectile_pitch) noexcept
+        {
+            const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
+            const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
+
+            return {predicted_target_position.x, predicted_target_position.y, projectile.m_origin.z + height};
+        }
+        [[nodiscard]]
+        static float calc_direct_pitch_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto direction = (view_to - origin).normalized();
+            return angles::radians_to_degrees(std::asin(direction.z));
+        }
+        [[nodiscard]]
+        static float calc_direct_yaw_angle(const Vector3<float>& origin, const Vector3<float>& view_to) noexcept
+        {
+            const auto direction = (view_to - origin).normalized();
+
+            return angles::radians_to_degrees(-std::atan2(direction.x, direction.y));
+        };
+    };
+} // namespace omath::rage_engine

include/omath/engines/source_engine/camera.hpp

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

include/omath/engines/source_engine/formulas.hpp

@@ -12,6 +12,15 @@ namespace omath::source_engine
     [[nodiscard]]
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
+    [[nodiscard]]
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
     [[nodiscard]]
     Vector3<float> right_vector(const ViewAngles& angles) noexcept;
 
@@ -21,7 +30,8 @@ namespace omath::source_engine
     [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::source_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::source_engine

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

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

include/omath/engines/unity_engine/camera.hpp

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

@@ -22,7 +22,17 @@ namespace omath::unity_engine
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

@@ -18,7 +18,7 @@ namespace omath::unity_engine
         static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
         [[nodiscard]]
         static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
-                                             float near, float far) noexcept;
+                                             float near, float far, NDCDepthRange ndc_depth_range) noexcept;
     };
 
 } // namespace omath::unity_engine

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

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

include/omath/engines/unreal_engine/camera.hpp

@@ -9,5 +9,5 @@
 
 namespace omath::unreal_engine
 {
-    using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
+    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<float> k_abs_right = {0, 1, 0};
-    constexpr Vector3<float> k_abs_forward = {1, 0, 0};
+    constexpr Vector3<double> k_abs_up = {0, 0, 1};
+    constexpr Vector3<double> k_abs_right = {0, 1, 0};
+    constexpr Vector3<double> k_abs_forward = {1, 0, 0};
 
-    using Mat4X4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
-    using Mat3X3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
-    using Mat1X3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
-    using PitchAngle = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
-    using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
-    using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
+    using Mat4X4 = Mat<4, 4, double, MatStoreType::ROW_MAJOR>;
+    using Mat3X3 = Mat<4, 4, double, MatStoreType::ROW_MAJOR>;
+    using Mat1X3 = Mat<1, 3, double, MatStoreType::ROW_MAJOR>;
+    using PitchAngle = Angle<double, -90., 90., AngleFlags::Clamped>;
+    using YawAngle = Angle<double, -180., 180., AngleFlags::Normalized>;
+    using RollAngle = Angle<double, -180., 180., AngleFlags::Normalized>;
 
     using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
 } // namespace omath::unreal_engine

include/omath/engines/unreal_engine/formulas.hpp

@@ -8,21 +8,31 @@
 namespace omath::unreal_engine
 {
     [[nodiscard]]
-    Vector3<float> forward_vector(const ViewAngles& angles) noexcept;
+    Vector3<double> forward_vector(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Vector3<float> right_vector(const ViewAngles& angles) noexcept;
+    Vector3<double> right_vector(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Vector3<float> up_vector(const ViewAngles& angles) noexcept;
+    Vector3<double> up_vector(const ViewAngles& angles) noexcept;
 
-    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
+    [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<double>& cam_origin) noexcept;
 
     [[nodiscard]]
     Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
 
     [[nodiscard]]
-    Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+    Vector3<double> extract_origin(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Vector3<double> extract_scale(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept;
+
+    [[nodiscard]]
+    Mat4X4 calc_perspective_projection_matrix(double field_of_view, double aspect_ratio, double near, double far,
+                                             NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
 
     template<class FloatingType>
     requires std::is_floating_point_v<FloatingType>

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

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

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

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

include/omath/hooks/hooks_manager.hpp

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

include/omath/hud/entity_overlay.hpp

@@ -15,14 +15,15 @@ namespace omath::hud
     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_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,
@@ -56,22 +57,22 @@ 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 Color& color, float offset, widget::Outlined outlined, const std::string_view& text);
 
-        EntityOverlay& add_left_label(const Color& color, float offset, bool outlined, const std::string_view& text);
+        EntityOverlay& add_left_label(const Color& color, float offset, widget::Outlined outlined, const std::string_view& text);
 
-        EntityOverlay& add_top_label(const Color& color, float offset, bool outlined, std::string_view text);
+        EntityOverlay& add_top_label(const Color& color, float offset, widget::Outlined outlined, std::string_view text);
 
-        EntityOverlay& add_bottom_label(const Color& color, float offset, bool outlined, std::string_view text);
+        EntityOverlay& add_bottom_label(const Color& color, float offset, widget::Outlined outlined, std::string_view text);
 
-        EntityOverlay& add_centered_top_label(const Color& color, float offset, bool outlined,
+        EntityOverlay& add_centered_top_label(const Color& color, float offset, widget::Outlined outlined,
                                               const std::string_view& text);
 
-        EntityOverlay& add_centered_bottom_label(const Color& color, float offset, bool outlined,
+        EntityOverlay& add_centered_bottom_label(const Color& color, float offset, widget::Outlined outlined,
                                                  const std::string_view& text);
 
         template<typename... Args>
-        EntityOverlay& add_right_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+        EntityOverlay& add_right_label(const Color& color, const float offset, const widget::Outlined outlined, std::format_string<Args...> fmt,
                                        Args&&... args)
         {
             return add_right_label(color, offset, outlined,
@@ -79,7 +80,7 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_left_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+        EntityOverlay& add_left_label(const Color& color, const float offset, const widget::Outlined outlined, std::format_string<Args...> fmt,
                                       Args&&... args)
         {
             return add_left_label(color, offset, outlined,
@@ -87,7 +88,7 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_top_label(const Color& color, const float offset, const bool outlined, std::format_string<Args...> fmt,
+        EntityOverlay& add_top_label(const Color& color, const float offset, const widget::Outlined outlined, std::format_string<Args...> fmt,
                                      Args&&... args)
         {
             return add_top_label(color, offset, outlined,
@@ -95,7 +96,7 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_bottom_label(const Color& color, const float offset, const bool outlined,
+        EntityOverlay& add_bottom_label(const Color& color, const float offset, const widget::Outlined outlined,
                                         std::format_string<Args...> fmt, Args&&... args)
         {
             return add_bottom_label(color, offset, outlined,
@@ -103,7 +104,7 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_centered_top_label(const Color& color, const float offset, const bool outlined,
+        EntityOverlay& add_centered_top_label(const Color& color, const float offset, const widget::Outlined outlined,
                                               std::format_string<Args...> fmt, Args&&... args)
         {
             return add_centered_top_label(color, offset, outlined,
@@ -111,7 +112,7 @@ namespace omath::hud
         }
 
         template<typename... Args>
-        EntityOverlay& add_centered_bottom_label(const Color& color, const float offset, const bool outlined,
+        EntityOverlay& add_centered_bottom_label(const Color& color, const float offset, const widget::Outlined outlined,
                                                  std::format_string<Args...> fmt, Args&&... args)
         {
             return add_centered_bottom_label(color, offset, outlined,

include/omath/hud/entity_overlay_widgets.hpp

@@ -26,13 +26,20 @@ namespace omath::hud::widget
     {
         Color color;
         Color fill{0.f, 0.f, 0.f, 0.f};
+        Color outline{0.f, 0.f, 0.f, 0.f};
         float thickness = 1.f;
     };
 
+    enum class Outlined
+    {
+        Off,
+        On,
+    };
     struct CorneredBox
     {
         Color color;
         Color fill{0.f, 0.f, 0.f, 0.f};
+        Color outline{0.f, 0.f, 0.f, 0.f};
         float corner_ratio = 0.2f;
         float thickness = 1.f;
     };
@@ -116,7 +123,7 @@ namespace omath::hud::widget
     {
         Color color;
         float offset;
-        bool outlined;
+        Outlined outlined;
         std::string_view text;
     };
 

include/omath/hud/renderer_realizations/imgui_renderer.hpp

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

@@ -5,6 +5,7 @@
 #include "vector3.hpp"
 #include <algorithm>
 #include <array>
+#include <cmath>
 #include <iomanip>
 #include <numeric>
 #include <sstream>
@@ -37,6 +38,12 @@ namespace omath
         COLUMN_MAJOR
     };
 
+    enum class NDCDepthRange : uint8_t
+    {
+        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);
@@ -52,7 +59,7 @@ namespace omath
             clear();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use store ordering")]]
         consteval static MatStoreType get_store_ordering() noexcept
         {
             return StoreType;
@@ -87,13 +94,13 @@ namespace omath
             m_data = other.m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr Type& operator[](const size_t row, const size_t col)
         {
             return at(row, col);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr const Type& operator[](const size_t row, const size_t col) const
         {
             return at(row, col);
@@ -104,25 +111,25 @@ namespace omath
             m_data = std::move(other.m_data);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use row count")]]
         static constexpr size_t row_count() noexcept
         {
             return Rows;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use column count")]]
         static constexpr size_t columns_count() noexcept
         {
             return Columns;
         }
 
-        [[nodiscard]]
-        static consteval MatSize size() noexcept
+        [[nodiscard("You must use matrix size")]]
+        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 +149,12 @@ namespace omath
             }
         }
 
-        [[nodiscard]] constexpr Type& at(const size_t row_index, const size_t column_index)
+        [[nodiscard("You must use element reference")]] constexpr Type& at(const size_t row_index, const size_t column_index)
         {
             return const_cast<Type&>(std::as_const(*this).at(row_index, column_index));
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use sum of elements")]]
         constexpr Type sum() const noexcept
         {
             return std::accumulate(m_data.begin(), m_data.end(), static_cast<Type>(0));
@@ -164,7 +171,7 @@ namespace omath
         }
 
         // Operator overloading for multiplication with another Mat
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, StoreType>
         operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
         {
@@ -195,7 +202,7 @@ namespace omath
             return *this = *this * other;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result matrix")]]
         constexpr Mat operator*(const Type& value) const noexcept
         {
             Mat result(*this);
@@ -209,7 +216,7 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result matrix")]]
         constexpr Mat operator/(const Type& value) const noexcept
         {
             Mat result(*this);
@@ -233,7 +240,7 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use transposed matrix")]]
         constexpr Mat<Columns, Rows, Type, StoreType> transposed() const noexcept
         {
             Mat<Columns, Rows, Type, StoreType> transposed;
@@ -244,7 +251,7 @@ namespace omath
             return transposed;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use determinant")]]
         constexpr Type determinant() const
         {
             static_assert(Rows == Columns, "Determinant is only defined for square matrices.");
@@ -265,10 +272,11 @@ 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 +297,32 @@ namespace omath
             return result;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use minor")]]
         constexpr Type minor(const size_t row, const size_t column) const
         {
             return strip(row, column).determinant();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use algebraic complement")]]
         constexpr Type alg_complement(const size_t row, const size_t column) const
         {
             const auto minor_value = minor(row, column);
             return (row + column + 2) % 2 == 0 ? minor_value : -minor_value;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use raw array")]]
         constexpr const std::array<Type, Rows * Columns>& raw_array() const
         {
             return m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use raw array")]]
         constexpr std::array<Type, Rows * Columns>& raw_array()
         {
             return m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use string representation")]]
         std::string to_string() const noexcept
         {
             std::ostringstream oss;
@@ -336,14 +344,14 @@ namespace omath
             return oss.str();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use wide string representation")]]
         std::wstring to_wstring() const noexcept
         {
             const auto ascii_string = to_string();
             return {ascii_string.cbegin(), ascii_string.cend()};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use UTF-8 string representation")]]
         // ReSharper disable once CppInconsistentNaming
         std::u8string to_u8string() const noexcept
         {
@@ -351,20 +359,20 @@ namespace omath
             return {ascii_string.cbegin(), ascii_string.cend()};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator==(const Mat& mat) const
         {
             return m_data == mat.m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator!=(const Mat& mat) const
         {
             return !operator==(mat);
         }
 
         // Static methods that return fixed-size matrices
-        [[nodiscard]]
+        [[nodiscard("You must use screen matrix")]]
         constexpr static Mat<4, 4> to_screen_mat(const Type& screen_width, const Type& screen_height) noexcept
         {
             return {
@@ -375,7 +383,7 @@ namespace omath
             };
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use inverted matrix")]]
         constexpr std::optional<Mat> inverted() const
         {
             const auto det = determinant();
@@ -398,7 +406,7 @@ namespace omath
     private:
         std::array<Type, Rows * Columns> m_data;
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
         cache_friendly_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
         {
@@ -413,7 +421,7 @@ namespace omath
             return result;
         }
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> cache_friendly_multiply_col_major(
                 const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
         {
@@ -428,7 +436,7 @@ namespace omath
             return result;
         }
 #ifdef OMATH_USE_AVX2
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>
         avx_multiply_col_major(const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
         {
@@ -498,7 +506,7 @@ namespace omath
             return result;
         }
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
         avx_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
         {
@@ -569,20 +577,20 @@ namespace omath
 #endif
     };
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard("You must use row matrix")]]
     constexpr static Mat<1, 4, Type, St> mat_row_from_vector(const Vector3<Type>& vector) noexcept
     {
         return {{vector.x, vector.y, vector.z, 1}};
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard("You must use column matrix")]]
     constexpr static Mat<4, 1, Type, St> mat_column_from_vector(const Vector3<Type>& vector) noexcept
     {
         return {{vector.x}, {vector.y}, {vector.z}, {1}};
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use translation matrix")]]
     constexpr Mat<4, 4, Type, St> mat_translation(const Vector3<Type>& diff) noexcept
     {
         return
@@ -594,7 +602,7 @@ namespace omath
         };
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use scale matrix")]]
     constexpr Mat<4, 4, Type, St> mat_scale(const Vector3<Type>& scale) noexcept
     {
         return {
@@ -605,8 +613,55 @@ namespace omath
         };
     }
 
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    [[nodiscard("You must use extracted origin")]]
+    constexpr Vector3<Type> mat_extract_origin(const Mat<4, 4, Type, St>& mat) noexcept
+    {
+        return {mat.at(0, 3), mat.at(1, 3), mat.at(2, 3)};
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    [[nodiscard("You must use extracted scale")]]
+    Vector3<Type> mat_extract_scale(const Mat<4, 4, Type, St>& mat) noexcept
+    {
+        auto column_length = [](const Type x, const Type y, const Type z) {
+            return static_cast<Type>(std::sqrt(x * x + y * y + z * z));
+        };
+
+        const auto scale_x = column_length(mat.at(0, 0), mat.at(1, 0), mat.at(2, 0));
+        const auto scale_y = column_length(mat.at(0, 1), mat.at(1, 1), mat.at(2, 1));
+        const auto scale_z = column_length(mat.at(0, 2), mat.at(1, 2), mat.at(2, 2));
+
+        constexpr auto epsilon = std::numeric_limits<Type>::epsilon();
+
+        return {
+                std::abs(scale_x) < epsilon ? Type{1} : scale_x,
+                std::abs(scale_y) < epsilon ? Type{1} : scale_y,
+                std::abs(scale_z) < epsilon ? Type{1} : scale_z,
+        };
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard("You must use extracted rotation")]]
+    Vector3<Type> mat_extract_rotation_zyx(const Mat<4, 4, Type, St>& mat) noexcept
+    {
+        const auto scale = mat_extract_scale(mat);
+        const auto m00 = mat.at(0, 0) / scale.x;
+        const auto m10 = mat.at(1, 0) / scale.x;
+        const auto m20 = mat.at(2, 0) / scale.x;
+        const auto m21 = mat.at(2, 1) / scale.y;
+        const auto m22 = mat.at(2, 2) / scale.z;
+
+        return {
+                angles::radians_to_degrees(std::atan2(m21, m22)),
+                angles::radians_to_degrees(std::asin(std::clamp(-m20, Type{-1}, Type{1}))),
+                angles::radians_to_degrees(std::atan2(m10, m00)),
+        };
+    }
+
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
     Mat<4, 4, Type, St> mat_rotation_axis_x(const Angle& angle) noexcept
     {
         return
@@ -619,7 +674,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
     Mat<4, 4, Type, St> mat_rotation_axis_y(const Angle& angle) noexcept
     {
         return
@@ -632,7 +687,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
     Mat<4, 4, Type, St> mat_rotation_axis_z(const Angle& angle) noexcept
     {
         return
@@ -645,7 +700,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use camera view matrix")]]
     static Mat<4, 4, Type, St> mat_camera_view(const Vector3<Type>& forward, const Vector3<Type>& right,
                                                const Vector3<Type>& up, const Vector3<Type>& camera_origin) noexcept
     {
@@ -658,56 +713,151 @@ namespace omath
         } * mat_translation<Type, St>(-camera_origin);
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
-    Mat<4, 4, Type, St> mat_perspective_left_handed(const float field_of_view, const float aspect_ratio,
-                                                    const float near, const float far) noexcept
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
+    [[nodiscard("You must use perspective matrix")]]
+    Mat<4, 4, Type, St> mat_perspective_left_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio,
+                                                    const Type near, const Type far) noexcept
     {
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
+        const auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
 
-        return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
-                {0.f, 1.f / fov_half_tan, 0.f, 0.f},
-                {0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
-                {0.f, 0.f, 1.f, 0.f}};
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0},                Type{0},             Type{0}},
+                    {Type{0},                                 Type{1} / fov_half_tan, Type{0},             Type{0}},
+                    {Type{0},                                 Type{0},                far / (far - near), -(near * far) / (far - near)},
+                    {Type{0},                                 Type{0},                Type{1},            Type{0}}};
+        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]]
-    Mat<4, 4, Type, St> mat_perspective_right_handed(const float field_of_view, const float aspect_ratio,
-                                                     const float near, const float far) noexcept
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
+    [[nodiscard("You must use perspective matrix")]]
+    Mat<4, 4, Type, St> mat_perspective_right_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio,
+                                                     const Type near, const Type far) noexcept
     {
-        const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
+        const auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
 
-        return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
-                {0.f, 1.f / fov_half_tan, 0.f, 0.f},
-                {0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
-                {0.f, 0.f, -1.f, 0.f}};
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{Type{1} / (aspect_ratio * fov_half_tan), Type{0},                Type{0},             Type{0}},
+                    {Type{0},                                 Type{1} / fov_half_tan, Type{0},             Type{0}},
+                    {Type{0},                                 Type{0},                -far / (far - near), -(near * far) / (far - near)},
+                    {Type{0},                                 Type{0},                -Type{1},            Type{0}}};
+        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
+    // horizontal (UE's FMinimalViewInfo::FOV, Quake-family fov_x, etc.).
+    // X and Y scales derived as: X = 1 / tan(hfov/2), Y = aspect / tan(hfov/2).
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
+    [[nodiscard("You must use perspective matrix")]]
+    Mat<4, 4, Type, St> mat_perspective_left_handed_horizontal_fov(const Type horizontal_fov,
+                                                                   const Type aspect_ratio, const Type near,
+                                                                   const Type far) noexcept
+    {
+        const auto inv_tan_half_hfov = Type{1} / std::tan(angles::degrees_to_radians(horizontal_fov) / Type{2});
+        const auto x_axis = inv_tan_half_hfov;
+        const auto y_axis = inv_tan_half_hfov * aspect_ratio;
+
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{x_axis,     Type{0},    Type{0},             Type{0}},
+                    {Type{0},    y_axis,     Type{0},             Type{0}},
+                    {Type{0},    Type{0},    far / (far - near),  -(near * far) / (far - near)},
+                    {Type{0},    Type{0},    Type{1},             Type{0}}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{x_axis,  Type{0}, Type{0},                     Type{0}},
+                    {Type{0}, y_axis,  Type{0},                     Type{0}},
+                    {Type{0}, Type{0}, (far + near) / (far - near), -(Type{2} * near * far) / (far - near)},
+                    {Type{0}, Type{0}, Type{1},                     Type{0}}};
+        else
+            std::unreachable();
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
+    [[nodiscard("You must use perspective matrix")]]
+    Mat<4, 4, Type, St> mat_perspective_right_handed_horizontal_fov(const Type horizontal_fov,
+                                                                    const Type aspect_ratio, const Type near,
+                                                                    const Type far) noexcept
+    {
+        const auto inv_tan_half_hfov = Type{1} / std::tan(angles::degrees_to_radians(horizontal_fov) / Type{2});
+        const auto x_axis = inv_tan_half_hfov;
+        const auto y_axis = inv_tan_half_hfov * aspect_ratio;
+
+        if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
+            return {{x_axis,  Type{0}, Type{0},             Type{0}},
+                    {Type{0}, y_axis,  Type{0},             Type{0}},
+                    {Type{0}, Type{0}, -far / (far - near), -(near * far) / (far - near)},
+                    {Type{0}, Type{0}, -Type{1},            Type{0}}};
+        else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+            return {{x_axis,  Type{0}, Type{0},                      Type{0}},
+                    {Type{0}, y_axis,  Type{0},                      Type{0}},
+                    {Type{0}, Type{0}, -(far + near) / (far - near), -(Type{2} * near * far) / (far - near)},
+                    {Type{0}, Type{0}, -Type{1},                     Type{0}}};
+        else
+            std::unreachable();
+    }
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
+    [[nodiscard("You must use ortho matrix")]]
     Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
                                               const Type near, const Type far) noexcept
     {
-        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                             }
-        };
+        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>
-    [[nodiscard]]
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
+             NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
+    [[nodiscard("You must use ortho matrix")]]
     Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top,
                                                const Type near, const Type far) noexcept
     {
-        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                             }
-        };
+        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)
@@ -733,14 +883,14 @@ template<size_t Rows, size_t Columns, class Type, omath::MatStoreType StoreType>
 struct std::formatter<omath::Mat<Rows, Columns, Type, StoreType>> // NOLINT(*-dcl58-cpp)
 {
     using MatType = omath::Mat<Rows, Columns, Type, StoreType>;
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
 
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const MatType& mat, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
@@ -752,4 +902,4 @@ struct std::formatter<omath::Mat<Rows, Columns, Type, StoreType>> // NOLINT(*-dc
         if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
             return std::format_to(ctx.out(), u8"{}", mat.to_u8string());
     }
-};
+};

include/omath/linear_algebra/vector2.hpp

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

include/omath/linear_algebra/vector3.hpp

@@ -30,12 +30,22 @@ namespace omath
         }
         constexpr Vector3() noexcept: Vector2<Type>() {};
 
-        [[nodiscard]] constexpr bool operator==(const Vector3& other) const noexcept
+        template<class CastedType>
+        requires std::is_arithmetic_v<CastedType>
+        [[nodiscard("You must use casted vector")]]
+        constexpr explicit operator Vector3<CastedType>() const noexcept
+        {
+            return {static_cast<CastedType>(this->x), static_cast<CastedType>(this->y),
+                    static_cast<CastedType>(this->z)};
+        }
+        [[nodiscard("You must use comparison result")]]
+        constexpr bool operator==(const Vector3& other) const noexcept
         {
             return Vector2<Type>::operator==(other) && (other.z == z);
         }
 
-        [[nodiscard]] constexpr bool operator!=(const Vector3& other) const noexcept
+        [[nodiscard("You must use comparison result")]]
+        constexpr bool operator!=(const Vector3& other) const noexcept
         {
             return !(*this == other);
         }
@@ -111,118 +121,140 @@ namespace omath
 
             return *this;
         }
+        [[nodiscard("You must use absed vector")]]
+        constexpr Vector3 abs() const noexcept
+        {
+            return Vector3{*this}.abs();
+        }
 
-        [[nodiscard]] constexpr Type distance_to_sqr(const Vector3& other) const noexcept
+        [[nodiscard("You must use squared distance")]]
+        constexpr Type distance_to_sqr(const Vector3& other) const noexcept
         {
             return (*this - other).length_sqr();
         }
 
-        [[nodiscard]] constexpr Type dot(const Vector3& other) const noexcept
+        [[nodiscard("You must use dot product")]]
+        constexpr Type dot(const Vector3& other) const noexcept
         {
             return Vector2<Type>::dot(other) + z * other.z;
         }
 
 #ifndef _MSC_VER
-        [[nodiscard]] constexpr Type length() const
+        [[nodiscard("You must use length")]] constexpr Type length() const
         {
             return std::hypot(this->x, this->y, z);
         }
 
-        [[nodiscard]] constexpr Type length_2d() const
+        [[nodiscard("You must use 2D length")]] constexpr Type length_2d() const
         {
             return Vector2<Type>::length();
         }
-        [[nodiscard]] Type distance_to(const Vector3& other) const
+        [[nodiscard("You must use distance")]] Type distance_to(const Vector3& other) const
         {
             return (*this - other).length();
         }
-        [[nodiscard]] constexpr Vector3 normalized() const
+        [[nodiscard("You must use normalized vector")]] constexpr Vector3 normalized() const
         {
             const Type length_value = this->length();
 
             return length_value != 0 ? *this / length_value : *this;
         }
 #else
-        [[nodiscard]] Type length() const noexcept
+        [[nodiscard("You must use length")]]
+        Type length() const noexcept
         {
             return std::hypot(this->x, this->y, z);
         }
 
-        [[nodiscard]] Vector3 normalized() const noexcept
+        [[nodiscard("You must use normalized vector")]]
+        Vector3 normalized() const noexcept
         {
             const Type len = this->length();
 
             return len != static_cast<Type>(0) ? *this / len : *this;
         }
 
-        [[nodiscard]] Type length_2d() const noexcept
+        [[nodiscard("You must use 2D length")]]
+        Type length_2d() const noexcept
         {
             return Vector2<Type>::length();
         }
 
-        [[nodiscard]] Type distance_to(const Vector3& v_other) const noexcept
+        [[nodiscard("You must use distance")]]
+        Type distance_to(const Vector3& v_other) const noexcept
         {
             return (*this - v_other).length();
         }
 #endif
 
-        [[nodiscard]] constexpr Type length_sqr() const noexcept
+        [[nodiscard("You must use squared length")]]
+        constexpr Type length_sqr() const noexcept
         {
             return Vector2<Type>::length_sqr() + z * z;
         }
 
-        [[nodiscard]] constexpr Vector3 operator-() const noexcept
+        [[nodiscard("You must use negated vector")]]
+        constexpr Vector3 operator-() const noexcept
         {
             return {-this->x, -this->y, -z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator+(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator+(const Vector3& other) const noexcept
         {
             return {this->x + other.x, this->y + other.y, z + other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator-(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator-(const Vector3& other) const noexcept
         {
             return {this->x - other.x, this->y - other.y, z - other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator*(const Type& value) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator*(const Type& value) const noexcept
         {
             return {this->x * value, this->y * value, z * value};
         }
 
-        [[nodiscard]] constexpr Vector3 operator*(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator*(const Vector3& other) const noexcept
         {
             return {this->x * other.x, this->y * other.y, z * other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 operator/(const Type& value) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator/(const Type& value) const noexcept
         {
             return {this->x / value, this->y / value, z / value};
         }
 
-        [[nodiscard]] constexpr Vector3 operator/(const Vector3& other) const noexcept
+        [[nodiscard("You must use result vector")]]
+        constexpr Vector3 operator/(const Vector3& other) const noexcept
         {
             return {this->x / other.x, this->y / other.y, z / other.z};
         }
 
-        [[nodiscard]] constexpr Vector3 cross(const Vector3& other) const noexcept
+        [[nodiscard("You must use cross product")]]
+        constexpr Vector3 cross(const Vector3& other) const noexcept
         {
             return {this->y * other.z - z * other.y, z * other.x - this->x * other.z,
                     this->x * other.y - this->y * other.x};
         }
 
-        [[nodiscard]] constexpr Type sum() const noexcept
+        [[nodiscard("You must use sum of elements")]]
+        constexpr Type sum() const noexcept
         {
             return sum_2d() + z;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use direction check result")]]
         bool point_to_same_direction(const Vector3& other) const
         {
             return dot(other) > static_cast<Type>(0);
         }
-        [[nodiscard]] std::expected<Angle<float, 0.f, 180.f, AngleFlags::Clamped>, Vector3Error>
+        [[nodiscard("You must use angle between vectors")]]
+        std::expected<Angle<float, 0.f, 180.f, AngleFlags::Clamped>, Vector3Error>
         angle_between(const Vector3& other) const noexcept
         {
             const auto bottom = length() * other.length();
@@ -233,8 +265,8 @@ namespace omath
             return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::from_radians(std::acos(dot(other) / bottom));
         }
 
-        [[nodiscard]] bool is_perpendicular(const Vector3& other,
-                                            Type epsilon = static_cast<Type>(0.0001)) const noexcept
+        [[nodiscard("You must use perpendicularity check result")]]
+        bool is_perpendicular(const Vector3& other, Type epsilon = static_cast<Type>(0.0001)) const noexcept
         {
             if (const auto angle = angle_between(other))
                 return std::abs(angle->as_degrees() - static_cast<Type>(90)) <= epsilon;
@@ -242,41 +274,43 @@ namespace omath
             return false;
         }
 
-        [[nodiscard]] constexpr Type sum_2d() const noexcept
+        [[nodiscard("You must use 2D sum")]]
+        constexpr Type sum_2d() const noexcept
         {
             return Vector2<Type>::sum();
         }
 
-        [[nodiscard]] constexpr std::tuple<Type, Type, Type> as_tuple() const noexcept
+        [[nodiscard("You must use tuple")]]
+        constexpr std::tuple<Type, Type, Type> as_tuple() const noexcept
         {
             return std::make_tuple(this->x, this->y, z);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<(const Vector3& other) const noexcept
         {
             return length() < other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>(const Vector3& other) const noexcept
         {
             return length() > other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<=(const Vector3& other) const noexcept
         {
             return length() <= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>=(const Vector3& other) const noexcept
         {
             return length() >= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use array")]]
         constexpr std::array<Type, 3> as_array() const noexcept
         {
             return {this->x, this->y, z};
@@ -286,7 +320,7 @@ namespace omath
 
 template<> struct std::hash<omath::Vector3<float>>
 {
-    [[nodiscard]]
+    [[nodiscard("You must use hash value")]]
     std::size_t operator()(const omath::Vector3<float>& vec) const noexcept
     {
         std::size_t hash = 0;
@@ -303,14 +337,14 @@ template<> struct std::hash<omath::Vector3<float>>
 template<class Type>
 struct std::formatter<omath::Vector3<Type>> // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
 
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const omath::Vector3<Type>& vec, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/linear_algebra/vector4.hpp

@@ -21,13 +21,22 @@ namespace omath
         }
         constexpr Vector4() noexcept: Vector3<Type>(), w(static_cast<Type>(0)) {};
 
-        [[nodiscard]]
+
+        template<class CastedType>
+        requires std::is_arithmetic_v<CastedType>
+        [[nodiscard("You must use casted vector")]] constexpr explicit operator Vector4<CastedType>() const noexcept
+        {
+            return {static_cast<CastedType>(this->x), static_cast<CastedType>(this->y),
+                    static_cast<CastedType>(this->z), static_cast<CastedType>(this->w)};
+        }
+
+        [[nodiscard("You must use comparison result")]]
         constexpr bool operator==(const Vector4& other) const noexcept
         {
             return Vector3<Type>::operator==(other) && w == other.w;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         constexpr bool operator!=(const Vector4& other) const noexcept
         {
             return !(*this == other);
@@ -80,17 +89,19 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]] constexpr Type length_sqr() const noexcept
+        [[nodiscard("You must use squared length")]]
+        constexpr Type length_sqr() const noexcept
         {
             return Vector3<Type>::length_sqr() + w * w;
         }
 
-        [[nodiscard]] constexpr Type dot(const Vector4& other) const noexcept
+        [[nodiscard("You must use dot product")]]
+        constexpr Type dot(const Vector4& other) const noexcept
         {
             return Vector3<Type>::dot(other) + w * other.w;
         }
 
-        [[nodiscard]] Type length() const noexcept
+        [[nodiscard("You must use length")]] Type length() const noexcept
         {
             return std::sqrt(length_sqr());
         }
@@ -102,6 +113,11 @@ namespace omath
 
             return *this;
         }
+        [[nodiscard("You must use absed vector")]]
+        constexpr Vector4 abs() const noexcept
+        {
+            return Vector4{*this}.abs();
+        }
         constexpr Vector4& clamp(const Type& min, const Type& max) noexcept
         {
             this->x = std::clamp(this->x, min, max);
@@ -111,86 +127,86 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use negated vector")]]
         constexpr Vector4 operator-() const noexcept
         {
             return {-this->x, -this->y, -this->z, -w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator+(const Vector4& other) const noexcept
         {
             return {this->x + other.x, this->y + other.y, this->z + other.z, w + other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator-(const Vector4& other) const noexcept
         {
             return {this->x - other.x, this->y - other.y, this->z - other.z, w - other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator*(const Type& value) const noexcept
         {
             return {this->x * value, this->y * value, this->z * value, w * value};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator*(const Vector4& other) const noexcept
         {
             return {this->x * other.x, this->y * other.y, this->z * other.z, w * other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator/(const Type& value) const noexcept
         {
             return {this->x / value, this->y / value, this->z / value, w / value};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result vector")]]
         constexpr Vector4 operator/(const Vector4& other) const noexcept
         {
             return {this->x / other.x, this->y / other.y, this->z / other.z, w / other.w};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use sum of elements")]]
         constexpr Type sum() const noexcept
         {
             return Vector3<Type>::sum() + w;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<(const Vector4& other) const noexcept
         {
             return length() < other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>(const Vector4& other) const noexcept
         {
             return length() > other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator<=(const Vector4& other) const noexcept
         {
             return length() <= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator>=(const Vector4& other) const noexcept
         {
             return length() >= other.length();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use array")]]
         constexpr std::array<Type, 4> as_array() const noexcept
         {
             return {this->x, this->y, this->z, w};
         }
 
 #ifdef OMATH_IMGUI_INTEGRATION
-        [[nodiscard]]
+        [[nodiscard("You must use ImVec4")]]
         constexpr ImVec4 to_im_vec4() const noexcept
         {
             return {
@@ -200,7 +216,7 @@ namespace omath
                     static_cast<float>(w),
             };
         }
-        [[nodiscard]]
+        [[nodiscard("You must use vector from ImVec4")]]
         static Vector4<float> from_im_vec4(const ImVec4& other) noexcept
         {
             return {static_cast<Type>(other.x), static_cast<Type>(other.y), static_cast<Type>(other.z)};
@@ -211,7 +227,7 @@ namespace omath
 
 template<> struct std::hash<omath::Vector4<float>>
 {
-    [[nodiscard]]
+    [[nodiscard("You must use hash value")]]
     std::size_t operator()(const omath::Vector4<float>& vec) const noexcept
     {
         std::size_t hash = 0;
@@ -228,13 +244,13 @@ template<> struct std::hash<omath::Vector4<float>>
 template<class Type>
 struct std::formatter<omath::Vector4<Type>> // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const omath::Vector4<Type>& vec, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
@@ -246,4 +262,4 @@ struct std::formatter<omath::Vector4<Type>> // NOLINT(*-dcl58-cpp)
         if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
             return std::format_to(ctx.out(), u8"[{}, {}, {}, {}]", vec.x, vec.y, vec.z, vec.w);
     }
-};
+};

include/omath/lua/lua.hpp

@@ -15,11 +15,16 @@ namespace omath::lua
         static void register_vec2(sol::table& omath_table);
         static void register_vec3(sol::table& omath_table);
         static void register_vec4(sol::table& omath_table);
+        static void register_matrices(sol::table& omath_table);
+        static void register_quaternion(sol::table& omath_table);
         static void register_color(sol::table& omath_table);
+        static void register_hud(sol::table& omath_table);
         static void register_triangle(sol::table& omath_table);
+        static void register_3d_primitives(sol::table& omath_table);
+        static void register_collision(sol::table& omath_table);
         static void register_shared_types(sol::table& omath_table);
         static void register_engines(sol::table& omath_table);
         static void register_pattern_scan(sol::table& omath_table);
     };
 }
-#endif
+#endif

include/omath/omath.hpp

@@ -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"
@@ -101,4 +107,4 @@
 
 // Utility
 #include "omath/utility/pattern_scan.hpp"
-#include "omath/utility/pe_pattern_scan.hpp"
+#include "omath/utility/pe_pattern_scan.hpp"

include/omath/pathfinding/walk_bot.hpp

@@ -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{};
-        float yaw{};
+        ArithmeticType pitch{};
+        ArithmeticType yaw{};
     };
 
+    template<class ArithmeticType = float>
     class ProjPredEngineInterface
     {
     public:
         [[nodiscard]]
-        virtual std::optional<Vector3<float>> maybe_calculate_aim_point(const Projectile& projectile,
-                                                                        const Target& target) const = 0;
+        virtual std::optional<Vector3<ArithmeticType>> maybe_calculate_aim_point(
+            const Projectile<ArithmeticType>& projectile, const Target<ArithmeticType>& target) const = 0;
 
         [[nodiscard]]
-        virtual std::optional<AimAngles> maybe_calculate_aim_angles(const Projectile& projectile,
-                                                                     const Target& target) const = 0;
+        virtual std::optional<AimAngles<ArithmeticType>> maybe_calculate_aim_angles(
+            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>
-        maybe_calculate_aim_angles(const Projectile& projectile, const Target& target) const override;
+        [[nodiscard]] std::optional<AimAngles<float>>
+        maybe_calculate_aim_angles(const Projectile<float>& projectile, const Target<float>& target) const override;
 
         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,
-                     const Vector3<float>& vec_b,
-                     Vector3<float> v3, // by-value for calc_viewpoint_from_angles
-                     float pitch, float yaw, float time, float gravity, std::optional<float> maybe_pitch) {
-                // Presence + return types
+            requires(const Projectile<ArithmeticType>& projectile, const Target<ArithmeticType>& target,
+                     const Vector3<ArithmeticType>& vec_a, const Vector3<ArithmeticType>& vec_b,
+                     Vector3<ArithmeticType> v3,
+                     ArithmeticType pitch, ArithmeticType yaw, ArithmeticType time, ArithmeticType gravity,
+                     std::optional<ArithmeticType> maybe_pitch) {
                 {
                     T::predict_projectile_position(projectile, pitch, yaw, time, gravity)
-                } -> std::same_as<Vector3<float>>;
-                { T::predict_target_position(target, time, gravity) } -> std::same_as<Vector3<float>>;
-                { T::calc_vector_2d_distance(vec_a) } -> std::same_as<float>;
-                { T::get_vector_height_coordinate(vec_b) } -> std::same_as<float>;
-                { T::calc_viewpoint_from_angles(projectile, v3, maybe_pitch) } -> std::same_as<Vector3<float>>;
-                { T::calc_direct_pitch_angle(vec_a, vec_b) } -> std::same_as<float>;
-                { T::calc_direct_yaw_angle(vec_a, vec_b) } -> std::same_as<float>;
+                } -> std::same_as<Vector3<ArithmeticType>>;
+                { T::predict_target_position(target, time, gravity) } -> std::same_as<Vector3<ArithmeticType>>;
+                { T::calc_vector_2d_distance(vec_a) } -> std::same_as<ArithmeticType>;
+                { T::get_vector_height_coordinate(vec_b) } -> std::same_as<ArithmeticType>;
+                { T::calc_viewpoint_from_angles(projectile, v3, maybe_pitch) } -> std::same_as<Vector3<ArithmeticType>>;
+                { T::calc_direct_pitch_angle(vec_a, vec_b) } -> std::same_as<ArithmeticType>;
+                { T::calc_direct_yaw_angle(vec_a, vec_b) } -> std::same_as<ArithmeticType>;
 
-                // 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>
-    class ProjPredEngineLegacy final : public ProjPredEngineInterface
+
+    template<class EngineTrait = source_engine::PredEngineTrait, class ArithmeticType = float>
+    requires PredEngineConcept<EngineTrait, ArithmeticType>
+    class ProjPredEngineLegacy final : public ProjPredEngineInterface<ArithmeticType>
     {
     public:
-        explicit ProjPredEngineLegacy(const float gravity_constant, const float simulation_time_step,
-                                      const float maximum_simulation_time, const float distance_tolerance)
+        explicit ProjPredEngineLegacy(const ArithmeticType gravity_constant,
+                                      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,
-                                                                const Target& target) const override
+        std::optional<Vector3<ArithmeticType>> maybe_calculate_aim_point(
+            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,
-                                                             const Target& target) const override
+        std::optional<AimAngles<ArithmeticType>> maybe_calculate_aim_angles(
+            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);
-            return AimAngles{solution->pitch, yaw};
+            const auto yaw = EngineTrait::calc_direct_yaw_angle(
+                projectile.m_origin + projectile.m_launch_offset, solution->predicted_target_position);
+            return AimAngles<ArithmeticType>{solution->pitch, yaw};
         }
 
     private:
         struct Solution
         {
-            Vector3<float> predicted_target_position;
-            float pitch;
+            Vector3<ArithmeticType> predicted_target_position;
+            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 float m_simulation_time_step;
-        const float m_maximum_simulation_time;
-        const float m_distance_tolerance;
+        const ArithmeticType m_gravity_constant;
+        const ArithmeticType m_simulation_time_step;
+        const ArithmeticType m_maximum_simulation_time;
+        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>
-        maybe_calculate_projectile_launch_pitch_angle(const Projectile& projectile,
-                                                      const Vector3<float>& target_position) const noexcept
+        std::optional<ArithmeticType>
+        maybe_calculate_projectile_launch_pitch_angle(const Projectile<ArithmeticType>& projectile,
+                                                      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
-                         - bullet_gravity
-                                   * (bullet_gravity * distance2d_sqr
-                                      + 2.0f * EngineTrait::get_vector_height_coordinate(delta) * launch_speed_sqr);
+            ArithmeticType root = launch_speed_sqr * launch_speed_sqr
+                                  - bullet_gravity
+                                            * (bullet_gravity * distance2d_sqr
+                                               + ArithmeticType{2} * EngineTrait::get_vector_height_coordinate(delta)
+                                                         * launch_speed_sqr);
 
-            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,
-                                          const float pitch, const float time) const noexcept
+        bool is_projectile_reached_target(const Vector3<ArithmeticType>& target_position,
+                                          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<float> m_launch_offset{0.f, 0.f, 0.f};
-        float m_launch_speed{};
-        float m_gravity_scale{};
+        Vector3<ArithmeticType> m_origin;
+        Vector3<ArithmeticType> m_launch_offset{};
+        ArithmeticType m_launch_speed{};
+        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<float> m_velocity;
+        Vector3<ArithmeticType> m_origin;
+        Vector3<ArithmeticType> m_velocity;
         bool m_is_airborne{};
     };
-} // namespace omath::projectile_prediction
+} // namespace omath::projectile_prediction

include/omath/projection/camera.hpp

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include "omath/3d_primitives/aabb.hpp"
+#include "omath/3d_primitives/obb.hpp"
 #include "omath/linear_algebra/mat.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
@@ -30,30 +32,43 @@ namespace omath::projection
         float m_width;
         float m_height;
 
-        [[nodiscard]] constexpr float aspect_ratio() const
+        [[nodiscard("You must use aspect ratio")]] constexpr float aspect_ratio() const
         {
             return m_width / m_height;
         }
     };
     using FieldOfView = Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
+    enum class ViewPortClipping
+    {
+        AUTO,
+        MANUAL,
+    };
+    struct CameraAxes
+    {
+        bool inverted_forward = false;
+        bool inverted_right = false;
+    };
 
-    template<class T, class MatType, class ViewAnglesType>
+    template<class T, class MatType, class ViewAnglesType, class NumericType>
     concept CameraEngineConcept =
-            requires(const Vector3<float>& cam_origin, const Vector3<float>& look_at, const ViewAnglesType& angles,
-                     const FieldOfView& fov, const ViewPort& viewport, float znear, float zfar) {
+            requires(const Vector3<NumericType>& cam_origin, const Vector3<NumericType>& look_at,
+                     const ViewAnglesType& angles, const FieldOfView& fov, const ViewPort& viewport, NumericType z_near,
+                     NumericType z_far, NDCDepthRange ndc_depth_range) {
                 // Presence + return types
                 { T::calc_look_at_angle(cam_origin, look_at) } -> std::same_as<ViewAnglesType>;
                 { T::calc_view_matrix(angles, cam_origin) } -> std::same_as<MatType>;
-                { T::calc_projection_matrix(fov, viewport, znear, zfar) } -> std::same_as<MatType>;
-
+                { T::calc_projection_matrix(fov, viewport, z_near, z_far, ndc_depth_range) } -> std::same_as<MatType>;
+                requires std::is_floating_point_v<NumericType>;
                 // Enforce noexcept as in the trait declaration
                 requires noexcept(T::calc_look_at_angle(cam_origin, look_at));
                 requires noexcept(T::calc_view_matrix(angles, cam_origin));
-                requires noexcept(T::calc_projection_matrix(fov, viewport, znear, zfar));
+                requires noexcept(T::calc_projection_matrix(fov, viewport, z_near, z_far, ndc_depth_range));
             };
 
-    template<class Mat4X4Type, class ViewAnglesType, class TraitClass, bool inverted_z = false>
-    requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType>
+    template<class Mat4X4Type, class ViewAnglesType, class TraitClass,
+             NDCDepthRange depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE, CameraAxes axes = {},
+             class NumericType = float>
+    requires CameraEngineConcept<TraitClass, Mat4X4Type, ViewAnglesType, NumericType>
     class Camera final
     {
 #ifdef OMATH_BUILD_TESTS
@@ -69,45 +84,114 @@ namespace omath::projection
         };
 
         ~Camera() = default;
-        Camera(const Vector3<float>& position, const ViewAnglesType& view_angles, const ViewPort& view_port,
-               const FieldOfView& fov, const float near, const float far) noexcept
+        Camera(const Vector3<NumericType>& position, const ViewAnglesType& view_angles, const ViewPort& view_port,
+               const FieldOfView& fov, const NumericType near, const NumericType far) noexcept
             : m_view_port(view_port), m_field_of_view(fov), m_far_plane_distance(far), m_near_plane_distance(near),
               m_view_angles(view_angles), m_origin(position)
         {
         }
 
-        void look_at(const Vector3<float>& target)
+        struct ProjectionParams final
+        {
+            FieldOfView fov;
+            NumericType aspect_ratio{};
+        };
+
+        // Recovers vertical FOV and aspect ratio from a perspective projection matrix
+        // built by any of the engine traits.  Both variants (ZERO_TO_ONE and
+        // NEGATIVE_ONE_TO_ONE) share the same m[0,0]/m[1,1] layout, so this works
+        // regardless of the NDC depth range.
+        [[nodiscard("You must use extracted projection params")]]
+        static ProjectionParams extract_projection_params(const Mat4X4Type& proj_matrix) noexcept
+        {
+            // m[1,1] == 1 / tan(fov/2)  =>  fov = 2 * atan(1 / m[1,1])
+            const auto f = proj_matrix.at(1, 1);
+            // m[0,0] == m[1,1] / aspect_ratio  =>  aspect = m[1,1] / m[0,0]
+            const auto fov_radians = NumericType{2} * std::atan(NumericType{1} / f);
+            return {FieldOfView::from_radians(static_cast<typename FieldOfView::ArithmeticType>(fov_radians)),
+                    f / proj_matrix.at(0, 0)};
+        }
+
+        [[nodiscard("You must use calculated view angles")]]
+        static ViewAnglesType calc_view_angles_from_view_matrix(const Mat4X4Type& view_matrix) noexcept
+        {
+            Vector3<NumericType> forward_vector = {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
+            if constexpr (axes.inverted_forward)
+                forward_vector = -forward_vector;
+            return TraitClass::calc_look_at_angle({}, forward_vector);
+        }
+
+        [[nodiscard("You must use calculated origin")]]
+        static Vector3<NumericType> calc_origin_from_view_matrix(const Mat4X4Type& view_matrix) noexcept
+        {
+            // The view matrix is R * T(-origin), so the last column stores t = -R * origin.
+            // Recovering origin: origin = -R^T * t
+            return {
+                    -(view_matrix[0, 0] * view_matrix[0, 3] + view_matrix[1, 0] * view_matrix[1, 3]
+                      + view_matrix[2, 0] * view_matrix[2, 3]),
+                    -(view_matrix[0, 1] * view_matrix[0, 3] + view_matrix[1, 1] * view_matrix[1, 3]
+                      + view_matrix[2, 1] * view_matrix[2, 3]),
+                    -(view_matrix[0, 2] * view_matrix[0, 3] + view_matrix[1, 2] * view_matrix[1, 3]
+                      + view_matrix[2, 2] * view_matrix[2, 3]),
+            };
+        }
+
+        void look_at(const Vector3<NumericType>& target)
         {
             m_view_angles = TraitClass::calc_look_at_angle(m_origin, target);
             m_view_projection_matrix = std::nullopt;
             m_view_matrix = std::nullopt;
         }
+        [[nodiscard("You must use calculated look-at angles")]]
+        ViewAnglesType calc_look_at_angles(const Vector3<NumericType>& look_to) const
+        {
+            return TraitClass::calc_look_at_angle(m_origin, look_to);
+        }
 
-        [[nodiscard]]
-        Vector3<float> get_forward() const noexcept
+        [[nodiscard("You must use forward vector")]]
+        Vector3<NumericType> get_forward() const noexcept
         {
             const auto& view_matrix = get_view_matrix();
-
-            if constexpr (inverted_z)
-                return -Vector3<float>{view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
             return {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
         }
 
-        [[nodiscard]]
-        Vector3<float> get_right() const noexcept
+        [[nodiscard("You must use right vector")]]
+        Vector3<NumericType> get_right() const noexcept
         {
             const auto& view_matrix = get_view_matrix();
             return {view_matrix[0, 0], view_matrix[0, 1], view_matrix[0, 2]};
         }
 
-        [[nodiscard]]
-        Vector3<float> get_up() const noexcept
+        [[nodiscard("You must use up vector")]]
+        Vector3<NumericType> get_up() const noexcept
         {
             const auto& view_matrix = get_view_matrix();
             return {view_matrix[1, 0], view_matrix[1, 1], view_matrix[1, 2]};
         }
+        [[nodiscard("You must use absolute forward vector")]]
+        Vector3<NumericType> get_abs_forward() const noexcept
+        {
+            if constexpr (axes.inverted_forward)
+                return -get_forward();
+            return get_forward();
+        }
 
-        [[nodiscard]] const Mat4X4Type& get_view_projection_matrix() const noexcept
+        [[nodiscard("You must use absolute right vector")]]
+        Vector3<NumericType> get_abs_right() const noexcept
+        {
+            if constexpr (axes.inverted_right)
+                return -get_right();
+            return get_right();
+        }
+
+        [[nodiscard("You must use absolute up vector")]]
+        Vector3<NumericType> get_abs_up() const noexcept
+        {
+            return get_up();
+        }
+
+        [[nodiscard("You must use view-projection matrix")]]
+        const Mat4X4Type& get_view_projection_matrix() const noexcept
         {
             if (!m_view_projection_matrix.has_value())
                 m_view_projection_matrix = get_projection_matrix() * get_view_matrix();
@@ -115,18 +199,18 @@ namespace omath::projection
             return m_view_projection_matrix.value();
         }
 
-        [[nodiscard]] const Mat4X4Type& get_view_matrix() const noexcept
+        [[nodiscard("You must use view matrix")]] const Mat4X4Type& get_view_matrix() const noexcept
         {
             if (!m_view_matrix.has_value())
                 m_view_matrix = TraitClass::calc_view_matrix(m_view_angles, m_origin);
 
             return m_view_matrix.value();
         }
-        [[nodiscard]] const Mat4X4Type& get_projection_matrix() const noexcept
+        [[nodiscard("You must use projection matrix")]] const Mat4X4Type& get_projection_matrix() const noexcept
         {
             if (!m_projection_matrix.has_value())
-                m_projection_matrix = TraitClass::calc_projection_matrix(m_field_of_view, m_view_port,
-                                                                         m_near_plane_distance, m_far_plane_distance);
+                m_projection_matrix = TraitClass::calc_projection_matrix(
+                        m_field_of_view, m_view_port, m_near_plane_distance, m_far_plane_distance, depth_range);
 
             return m_projection_matrix.value();
         }
@@ -138,16 +222,16 @@ namespace omath::projection
             m_projection_matrix = std::nullopt;
         }
 
-        void set_near_plane(const float near) noexcept
+        void set_near_plane(const NumericType near_plane) noexcept
         {
-            m_near_plane_distance = near;
+            m_near_plane_distance = near_plane;
             m_view_projection_matrix = std::nullopt;
             m_projection_matrix = std::nullopt;
         }
 
-        void set_far_plane(const float far) noexcept
+        void set_far_plane(const NumericType far_plane) noexcept
         {
-            m_far_plane_distance = far;
+            m_far_plane_distance = far_plane;
             m_view_projection_matrix = std::nullopt;
             m_projection_matrix = std::nullopt;
         }
@@ -159,7 +243,7 @@ namespace omath::projection
             m_view_matrix = std::nullopt;
         }
 
-        void set_origin(const Vector3<float>& origin) noexcept
+        void set_origin(const Vector3<NumericType>& origin) noexcept
         {
             m_origin = origin;
             m_view_projection_matrix = std::nullopt;
@@ -172,34 +256,34 @@ namespace omath::projection
             m_projection_matrix = std::nullopt;
         }
 
-        [[nodiscard]] const FieldOfView& get_field_of_view() const noexcept
+        [[nodiscard("You must use field of view")]] const FieldOfView& get_field_of_view() const noexcept
         {
             return m_field_of_view;
         }
 
-        [[nodiscard]] const float& get_near_plane() const noexcept
+        [[nodiscard("You must use near plane")]] const NumericType& get_near_plane() const noexcept
         {
             return m_near_plane_distance;
         }
 
-        [[nodiscard]] const float& get_far_plane() const noexcept
+        [[nodiscard("You must use far plane")]] const NumericType& get_far_plane() const noexcept
         {
             return m_far_plane_distance;
         }
 
-        [[nodiscard]] const ViewAnglesType& get_view_angles() const noexcept
+        [[nodiscard("You must use view angles")]] const ViewAnglesType& get_view_angles() const noexcept
         {
             return m_view_angles;
         }
 
-        [[nodiscard]] const Vector3<float>& get_origin() const noexcept
+        [[nodiscard("You must use origin")]] const Vector3<NumericType>& get_origin() const noexcept
         {
             return m_origin;
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]] std::expected<Vector3<float>, Error>
-        world_to_screen(const Vector3<float>& world_position) const noexcept
+        [[nodiscard("You must use screen position")]] std::expected<Vector3<NumericType>, Error>
+        world_to_screen(const Vector3<NumericType>& world_position) const noexcept
         {
             const auto normalized_cords = world_to_view_port(world_position);
 
@@ -213,15 +297,32 @@ namespace omath::projection
             else
                 std::unreachable();
         }
+        template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
+        [[nodiscard("You must use unclipped screen position")]] std::expected<Vector3<NumericType>, Error>
+        world_to_screen_unclipped(const Vector3<NumericType>& world_position) const noexcept
+        {
+            const auto normalized_cords = world_to_view_port(world_position, ViewPortClipping::MANUAL);
 
-        [[nodiscard]] bool is_culled_by_frustum(const Triangle<Vector3<float>>& triangle) const noexcept
+            if (!normalized_cords.has_value())
+                return std::unexpected{normalized_cords.error()};
+
+            if constexpr (screen_start == ScreenStart::TOP_LEFT_CORNER)
+                return ndc_to_screen_position_from_top_left_corner(*normalized_cords);
+            else if constexpr (screen_start == ScreenStart::BOTTOM_LEFT_CORNER)
+                return ndc_to_screen_position_from_bottom_left_corner(*normalized_cords);
+            else
+                std::unreachable();
+        }
+
+        [[nodiscard("You must use frustum culling result")]] bool
+        is_culled_by_frustum(const Triangle<Vector3<NumericType>>& triangle) const noexcept
         {
             // Transform to clip space (before perspective divide)
-            auto to_clip = [this](const Vector3<float>& point)
+            auto to_clip = [this](const Vector3<NumericType>& point)
             {
                 auto clip = get_view_projection_matrix()
-                            * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(point);
-                return std::array<float, 4>{
+                            * mat_column_from_vector<NumericType, Mat4X4Type::get_store_ordering()>(point);
+                return std::array<NumericType, 4>{
                         clip.at(0, 0), // x
                         clip.at(1, 0), // y
                         clip.at(2, 0), // z
@@ -234,52 +335,123 @@ namespace omath::projection
             const auto c2 = to_clip(triangle.m_vertex3);
 
             // If all vertices are behind the camera (w <= 0), trivially reject
-            if (c0[3] <= 0.f && c1[3] <= 0.f && c2[3] <= 0.f)
+            if (c0[3] <= NumericType{0} && c1[3] <= NumericType{0} && c2[3] <= NumericType{0})
                 return true;
 
             // Helper: all three vertices outside the same clip plane
-            auto all_outside_plane = [](const int axis, const std::array<float, 4>& a, const std::array<float, 4>& b,
-                                        const std::array<float, 4>& c, const bool positive_side)
+            auto all_outside_plane = [](const int axis, const std::array<NumericType, 4>& a,
+                                        const std::array<NumericType, 4>& b, const std::array<NumericType, 4>& c,
+                                        const bool positive_side)
             {
                 if (positive_side)
                     return a[axis] > a[3] && b[axis] > b[3] && c[axis] > c[3];
                 return a[axis] < -a[3] && b[axis] < -b[3] && c[axis] < -c[3];
             };
 
-            // Clip volume in clip space (OpenGL-style):
+            // Clip volume in clip space:
             // -w <= x <= w
             // -w <= y <= w
-            // -w <= z <= w
+            // z_min <= z <= w  (z_min = -w for [-1,1], 0 for [0,1])
 
-            for (int i = 0; i < 3; i++)
+            // x and y planes
+            for (int i = 0; i < 2; i++)
             {
                 if (all_outside_plane(i, c0, c1, c2, false))
-                    return true; // x < -w (left)
+                    return true;
                 if (all_outside_plane(i, c0, c1, c2, true))
-                    return true; // x >  w (right)
+                    return true;
+            }
+
+            // z far plane: z > w
+            if (all_outside_plane(2, c0, c1, c2, true))
+                return true;
+
+            // z near plane
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+            {
+                // 0 <= z, so reject if z < 0 for all vertices
+                if (c0[2] < 0.f && c1[2] < 0.f && c2[2] < 0.f)
+                    return true;
+            }
+            else
+            {
+                // -w <= z
+                if (all_outside_plane(2, c0, c1, c2, false))
+                    return true;
             }
             return false;
         }
 
-        [[nodiscard]] std::expected<Vector3<float>, Error>
-        world_to_view_port(const Vector3<float>& world_position) const noexcept
+        [[nodiscard("You must use AABB frustum culling result")]] bool
+        is_aabb_culled_by_frustum(const primitives::Aabb<NumericType>& aabb) const noexcept
+        {
+            // For each plane, find the AABB corner most in the direction of the plane normal
+            // (the "positive vertex"). If it's outside, the entire AABB is outside.
+            for (const auto& [a, b, c, d] : extract_frustum_planes())
+            {
+                const auto px = a >= NumericType{0} ? aabb.max.x : aabb.min.x;
+                const auto py = b >= NumericType{0} ? aabb.max.y : aabb.min.y;
+                const auto pz = c >= NumericType{0} ? aabb.max.z : aabb.min.z;
+
+                if (a * px + b * py + c * pz + d < NumericType{0})
+                    return true;
+            }
+
+            return false;
+        }
+
+        [[nodiscard("You must use OBB frustum culling result")]] bool
+        is_obb_culled_by_frustum(const primitives::Obb<NumericType>& obb) const noexcept
+        {
+            // For each plane, project the OBB extents onto the plane normal to get the
+            // effective radius, then test the center's signed distance against it.
+            for (const auto& [a, b, c, d] : extract_frustum_planes())
+            {
+                const Vector3<NumericType> normal{a, b, c};
+
+                const auto center_distance = normal.dot(obb.center) + d;
+                const auto radius = obb.half_extents.x * std::abs(normal.dot(obb.axis_x))
+                                    + obb.half_extents.y * std::abs(normal.dot(obb.axis_y))
+                                    + obb.half_extents.z * std::abs(normal.dot(obb.axis_z));
+
+                if (center_distance + radius < NumericType{0})
+                    return true;
+            }
+
+            return false;
+        }
+
+        [[nodiscard("You must use view port position")]] std::expected<Vector3<NumericType>, Error>
+        world_to_view_port(const Vector3<NumericType>& world_position,
+                           const ViewPortClipping& clipping = ViewPortClipping::AUTO) const noexcept
         {
             auto projected = get_view_projection_matrix()
-                             * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(world_position);
+                             * mat_column_from_vector<NumericType, Mat4X4Type::get_store_ordering()>(world_position);
 
             const auto& w = projected.at(3, 0);
-            if (w <= std::numeric_limits<float>::epsilon())
-                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+            constexpr auto eps = std::numeric_limits<NumericType>::epsilon();
+            if (w <= eps)
+                return std::unexpected(Error::PERSPECTIVE_DIVIDER_LESS_EQ_ZERO);
 
             projected /= w;
 
-            if (is_ndc_out_of_bounds(projected))
+            // ReSharper disable once CppTooWideScope
+            const auto clipped_automatically = clipping == ViewPortClipping::AUTO && is_ndc_out_of_bounds(projected);
+            if (clipped_automatically)
                 return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
 
-            return Vector3<float>{projected.at(0, 0), projected.at(1, 0), projected.at(2, 0)};
+            // ReSharper disable once CppTooWideScope
+            constexpr auto z_min = depth_range == NDCDepthRange::ZERO_TO_ONE ? NumericType{0} : -NumericType{1};
+            const auto clipped_manually =
+                    clipping == ViewPortClipping::MANUAL
+                    && (projected.at(2, 0) < z_min - eps || projected.at(2, 0) > NumericType{1} + eps);
+            if (clipped_manually)
+                return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
+
+            return Vector3<NumericType>{projected.at(0, 0), projected.at(1, 0), projected.at(2, 0)};
         }
-        [[nodiscard]]
-        std::expected<Vector3<float>, Error> view_port_to_screen(const Vector3<float>& ndc) const noexcept
+        [[nodiscard("You must use world position")]]
+        std::expected<Vector3<NumericType>, Error> view_port_to_world(const Vector3<NumericType>& ndc) const noexcept
         {
             const auto inv_view_proj = get_view_projection_matrix().inverted();
 
@@ -287,54 +459,120 @@ namespace omath::projection
                 return std::unexpected(Error::INV_VIEW_PROJ_MAT_DET_EQ_ZERO);
 
             auto inverted_projection =
-                    inv_view_proj.value() * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(ndc);
+                    inv_view_proj.value() * mat_column_from_vector<NumericType, Mat4X4Type::get_store_ordering()>(ndc);
 
             const auto& w = inverted_projection.at(3, 0);
 
-            if (std::abs(w) < std::numeric_limits<float>::epsilon())
+            if (std::abs(w) < std::numeric_limits<NumericType>::epsilon())
                 return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
 
             inverted_projection /= w;
 
-            return Vector3<float>{inverted_projection.at(0, 0), inverted_projection.at(1, 0),
-                                  inverted_projection.at(2, 0)};
+            return Vector3<NumericType>{inverted_projection.at(0, 0), inverted_projection.at(1, 0),
+                                        inverted_projection.at(2, 0)};
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]]
-        std::expected<Vector3<float>, Error> screen_to_world(const Vector3<float>& screen_pos) const noexcept
+        [[nodiscard("You must use world position")]]
+        std::expected<Vector3<NumericType>, Error>
+        screen_to_world(const Vector3<NumericType>& screen_pos) const noexcept
         {
-            return view_port_to_screen(screen_to_ndc<screen_start>(screen_pos));
+            return view_port_to_world(screen_to_ndc<screen_start>(screen_pos));
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]]
-        std::expected<Vector3<float>, Error> screen_to_world(const Vector2<float>& screen_pos) const noexcept
+        [[nodiscard("You must use world position")]]
+        std::expected<Vector3<NumericType>, Error>
+        screen_to_world(const Vector2<NumericType>& screen_pos) const noexcept
         {
             const auto& [x, y] = screen_pos;
-            return screen_to_world<screen_start>({x, y, 1.f});
+            return screen_to_world<screen_start>({x, y, 1});
         }
 
     protected:
         ViewPort m_view_port{};
-        Angle<float, 0.f, 180.f, AngleFlags::Clamped> m_field_of_view;
+        FieldOfView m_field_of_view;
 
         mutable std::optional<Mat4X4Type> m_view_projection_matrix;
         mutable std::optional<Mat4X4Type> m_projection_matrix;
         mutable std::optional<Mat4X4Type> m_view_matrix;
-        float m_far_plane_distance;
-        float m_near_plane_distance;
+        NumericType m_far_plane_distance;
+        NumericType m_near_plane_distance;
 
         ViewAnglesType m_view_angles;
-        Vector3<float> m_origin;
+        Vector3<NumericType> m_origin;
 
     private:
-        template<class Type>
-        [[nodiscard]] constexpr static bool is_ndc_out_of_bounds(const Type& ndc) noexcept
+        struct FrustumPlane final
         {
-            constexpr auto eps = std::numeric_limits<float>::epsilon();
-            return std::ranges::any_of(ndc.raw_array(),
-                                       [](const auto& val) { return val < -1.0f - eps || val > 1.0f + eps; });
+            NumericType a, b, c, d;
+        };
+
+        // Gribb-Hartmann: extract 6 frustum planes from the view-projection matrix.
+        // Each plane is (a, b, c, d) such that ax + by + cz + d >= 0 means inside.
+        // For a 4x4 matrix with rows r0..r3:
+        //   Left   = r3 + r0
+        //   Right  = r3 - r0
+        //   Bottom = r3 + r1
+        //   Top    = r3 - r1
+        //   Near   = r3 + r2  ([-1,1]) or r2 ([0,1])
+        //   Far    = r3 - r2
+        [[nodiscard("You must use frustum planes")]] std::array<FrustumPlane, 6> extract_frustum_planes() const noexcept
+        {
+            const auto& m = get_view_projection_matrix();
+
+            const auto extract_plane = [&m](const int sign, const int row) -> FrustumPlane
+            {
+                return {
+                        m.at(3, 0) + static_cast<NumericType>(sign) * m.at(row, 0),
+                        m.at(3, 1) + static_cast<NumericType>(sign) * m.at(row, 1),
+                        m.at(3, 2) + static_cast<NumericType>(sign) * m.at(row, 2),
+                        m.at(3, 3) + static_cast<NumericType>(sign) * m.at(row, 3),
+                };
+            };
+
+            std::array<FrustumPlane, 6> planes = {
+                    extract_plane(1, 0), // left
+                    extract_plane(-1, 0), // right
+                    extract_plane(1, 1), // bottom
+                    extract_plane(-1, 1), // top
+                    extract_plane(-1, 2), // far
+            };
+
+            // Near plane depends on NDC depth range
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+                planes[5] = {m.at(2, 0), m.at(2, 1), m.at(2, 2), m.at(2, 3)};
+            else
+                planes[5] = extract_plane(1, 2);
+
+            return planes;
+        }
+
+        template<class Type>
+        [[nodiscard("You must use NDC bounds check result")]] constexpr static bool
+        is_ndc_out_of_bounds(const Type& ndc) noexcept
+        {
+            constexpr auto eps = std::numeric_limits<NumericType>::epsilon();
+
+            const auto& data = ndc.raw_array();
+            // x and y are always in [-1, 1]
+            if (data[0] < -NumericType{1} - eps || data[0] > NumericType{1} + eps)
+                return true;
+            if (data[1] < -NumericType{1} - eps || data[1] > NumericType{1} + eps)
+                return true;
+            return is_ndc_z_value_out_of_bounds(data[2]);
+        }
+        template<class ZType>
+        [[nodiscard("You must use NDC z bounds check result")]]
+        constexpr static bool is_ndc_z_value_out_of_bounds(const ZType& z_ndc) noexcept
+        {
+            constexpr auto eps = std::numeric_limits<NumericType>::epsilon();
+            if constexpr (depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
+                return z_ndc < -NumericType{1} - eps || z_ndc > NumericType{1} + eps;
+            if constexpr (depth_range == NDCDepthRange::ZERO_TO_ONE)
+                return z_ndc < NumericType{0} - eps || z_ndc > NumericType{1} + eps;
+
+            std::unreachable();
         }
 
         // NDC REPRESENTATION:
@@ -351,8 +589,8 @@ namespace omath::projection
                                 v
             */
 
-        [[nodiscard]] Vector3<float>
-        ndc_to_screen_position_from_top_left_corner(const Vector3<float>& ndc) const noexcept
+        [[nodiscard("You must use screen position")]] Vector3<NumericType>
+        ndc_to_screen_position_from_top_left_corner(const Vector3<NumericType>& ndc) const noexcept
         {
             /*
             +------------------------>
@@ -365,11 +603,12 @@ namespace omath::projection
             |
             ⌄
             */
-            return {(ndc.x + 1.f) / 2.f * m_view_port.m_width, (ndc.y / -2.f + 0.5f) * m_view_port.m_height, ndc.z};
+            return {(ndc.x + NumericType{1}) / NumericType{2} * m_view_port.m_width,
+                    (ndc.y / -NumericType{2} + NumericType{0.5}) * m_view_port.m_height, ndc.z};
         }
 
-        [[nodiscard]] Vector3<float>
-        ndc_to_screen_position_from_bottom_left_corner(const Vector3<float>& ndc) const noexcept
+        [[nodiscard("You must use screen position")]] Vector3<NumericType>
+        ndc_to_screen_position_from_bottom_left_corner(const Vector3<NumericType>& ndc) const noexcept
         {
             /*
              ^
@@ -382,18 +621,20 @@ namespace omath::projection
              | (0, 0)
              +------------------------>
              */
-            return {(ndc.x + 1.f) / 2.f * m_view_port.m_width, (ndc.y / 2.f + 0.5f) * m_view_port.m_height, ndc.z};
+            return {(ndc.x + NumericType{1}) / NumericType{2} * m_view_port.m_width,
+                    (ndc.y / NumericType{2} + NumericType{0.5}) * m_view_port.m_height, ndc.z};
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]] Vector3<float> screen_to_ndc(const Vector3<float>& screen_pos) const noexcept
+        [[nodiscard("You must use NDC position")]] Vector3<NumericType>
+        screen_to_ndc(const Vector3<NumericType>& screen_pos) const noexcept
         {
             if constexpr (screen_start == ScreenStart::TOP_LEFT_CORNER)
-                return {screen_pos.x / m_view_port.m_width * 2.f - 1.f, 1.f - screen_pos.y / m_view_port.m_height * 2.f,
-                        screen_pos.z};
+                return {screen_pos.x / m_view_port.m_width * NumericType{2} - NumericType{1},
+                        NumericType{1} - screen_pos.y / m_view_port.m_height * NumericType{2}, screen_pos.z};
             else if constexpr (screen_start == ScreenStart::BOTTOM_LEFT_CORNER)
-                return {screen_pos.x / m_view_port.m_width * 2.f - 1.f,
-                        (screen_pos.y / m_view_port.m_height - 0.5f) * 2.f, screen_pos.z};
+                return {screen_pos.x / m_view_port.m_width * NumericType{2} - NumericType{1},
+                        (screen_pos.y / m_view_port.m_height - NumericType{0.5}) * NumericType{2}, screen_pos.z};
             else
                 std::unreachable();
         }

include/omath/projection/error_codes.hpp

@@ -11,5 +11,6 @@ namespace omath::projection
     {
         WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS,
         INV_VIEW_PROJ_MAT_DET_EQ_ZERO,
+        PERSPECTIVE_DIVIDER_LESS_EQ_ZERO,
     };
 }

include/omath/rev_eng/internal_rev_object.hpp

@@ -116,6 +116,33 @@ namespace omath::rev_eng
             return call_method<ReturnType>(vtable[Id], arg_list...);
         }
 
+        template<std::ptrdiff_t TableOffset, std::size_t Id, class ReturnType>
+        ReturnType call_virtual_method(auto... arg_list)
+        {
+            auto sub_this = reinterpret_cast<void*>(
+                reinterpret_cast<std::uintptr_t>(this) + TableOffset);
+            const auto vtable = *reinterpret_cast<void***>(sub_this);
+#ifdef _MSC_VER
+            using Fn = ReturnType(__thiscall*)(void*, decltype(arg_list)...);
+#else
+            using Fn = ReturnType(*)(void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<Fn>(vtable[Id])(sub_this, arg_list...);
+        }
+        template<std::ptrdiff_t TableOffset, std::size_t Id, class ReturnType>
+        ReturnType call_virtual_method(auto... arg_list) const
+        {
+            auto sub_this = reinterpret_cast<const void*>(
+                reinterpret_cast<std::uintptr_t>(this) + TableOffset);
+            const auto vtable = *reinterpret_cast<void* const* const*>(sub_this);
+#ifdef _MSC_VER
+            using Fn = ReturnType(__thiscall*)(const void*, decltype(arg_list)...);
+#else
+            using Fn = ReturnType(*)(const void*, decltype(arg_list)...);
+#endif
+            return reinterpret_cast<Fn>(vtable[Id])(sub_this, arg_list...);
+        }
+
     private:
         [[nodiscard]]
         static const void* resolve_pattern(const std::string_view module_name, const std::string_view pattern)

include/omath/trigonometry/angle.hpp

@@ -36,6 +36,7 @@ namespace omath
         }
 
     public:
+        using ArithmeticType = Type;
         [[nodiscard]]
         constexpr static Angle from_degrees(const Type& degrees) noexcept
         {

include/omath/trigonometry/view_angles.hpp

@@ -2,14 +2,25 @@
 // Created by Orange on 11/30/2024.
 //
 #pragma once
-
+#include "omath/linear_algebra/vector3.hpp"
+#include <type_traits>
 namespace omath
 {
     template<class PitchType, class YawType, class RollType>
+    requires std::is_same_v<typename PitchType::ArithmeticType, typename YawType::ArithmeticType>
+             && std::is_same_v<typename YawType::ArithmeticType, typename RollType::ArithmeticType>
     struct ViewAngles
     {
+        using ArithmeticType = PitchType::ArithmeticType;
+
         PitchType pitch;
         YawType yaw;
         RollType roll;
+
+        [[nodiscard]]
+        Vector3<ArithmeticType> as_vector3() const
+        {
+            return {pitch.as_degrees(), yaw.as_degrees(), roll.as_degrees()};
+        }
     };
 } // namespace omath

mkdocs.yml

@@ -1,7 +1,28 @@
 site_name: OMATH Docs
 theme:
-  name: darkly
+  name: material
+  font:
+    text: Roboto
+    code: Roboto Mono
+  palette:
+    scheme: slate
+    primary: black
+    accent: orange
+  features:
+    - navigation.instant
+    - navigation.tracking
+    - navigation.sections
+    - navigation.top
+    - search.highlight
+    - content.code.copy
+markdown_extensions:
+  - pymdownx.highlight:
+      anchor_linenums: true
+      line_spans: __span
+      pygments_lang_class: true
+  - pymdownx.inlinehilite
+  - pymdownx.superfences
 extra_css:
   - styles/center.css
   - styles/custom-header.css
-  - styles/links.css
+  - styles/links.css

scripts/coverage-llvm.sh

@@ -16,15 +16,42 @@ echo "[*] Output dir: ${OUTPUT_DIR}"
 # Find llvm tools - handle versioned names (Linux) and xcrun (macOS)
 find_llvm_tool() {
     local tool_name="$1"
-    
-    # macOS: use xcrun
+
+    # First priority: derive from the actual compiler used by cmake (CMakeCache.txt).
+    # This guarantees the profraw format version matches the instrumented binary.
+    local cache_file="${BINARY_DIR}/CMakeCache.txt"
+    if [[ -f "$cache_file" ]]; then
+        local cmake_cxx
+        cmake_cxx=$(grep '^CMAKE_CXX_COMPILER:' "$cache_file" | cut -d= -f2)
+        if [[ -n "$cmake_cxx" && -x "$cmake_cxx" ]]; then
+            local tool_path
+            tool_path="$(dirname "$cmake_cxx")/${tool_name}"
+            if [[ -x "$tool_path" ]]; then
+                echo "$tool_path"
+                return 0
+            fi
+        fi
+    fi
+
+    # macOS: derive from xcrun clang as fallback
     if [[ "$(uname)" == "Darwin" ]]; then
+        local clang_path
+        clang_path=$(xcrun --find clang 2>/dev/null)
+        if [[ -n "$clang_path" ]]; then
+            local tool_path
+            tool_path="$(dirname "$clang_path")/${tool_name}"
+            if [[ -x "$tool_path" ]]; then
+                echo "$tool_path"
+                return 0
+            fi
+        fi
+        # Fallback: xcrun
         if xcrun --find "${tool_name}" &>/dev/null; then
             echo "xcrun ${tool_name}"
             return 0
         fi
     fi
-    
+
     # Try versioned names (Linux with LLVM 21, 20, 19, etc.)
     for version in 21 20 19 18 17 ""; do
         local versioned_name="${tool_name}${version:+-$version}"
@@ -33,7 +60,7 @@ find_llvm_tool() {
             return 0
         fi
     done
-    
+
     echo ""
     return 1
 }
@@ -51,6 +78,18 @@ fi
 echo "[*] Using: ${LLVM_PROFDATA}"
 echo "[*] Using: ${LLVM_COV}"
 
+# Print version info for debugging version mismatches
+if [[ "$(uname)" == "Darwin" ]]; then
+    echo "[*] Default clang: $(xcrun clang --version 2>&1 | head -1)"
+    # Show actual compiler used by the build (from CMakeCache.txt if available)
+    CACHE_FILE="${BINARY_DIR}/CMakeCache.txt"
+    if [[ -f "$CACHE_FILE" ]]; then
+        ACTUAL_CXX=$(grep '^CMAKE_CXX_COMPILER:' "$CACHE_FILE" | cut -d= -f2)
+        echo "[*] Build compiler: ${ACTUAL_CXX} ($(${ACTUAL_CXX} --version 2>&1 | head -1))"
+    fi
+    echo "[*] profdata: $(${LLVM_PROFDATA} show --version 2>&1 | head -1 || true)"
+fi
+
 # Find test binary
 if [[ -z "${TEST_BINARY}" ]]; then
     for path in \