added outlined option for box

added code style skill for codex/claude

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

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

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

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

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

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

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

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

.idea/editor.xml

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

AGENTS.md

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

CLAUDE.md

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

CMakeLists.txt

@@ -32,7 +32,7 @@ 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 automatically" 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)
@@ -113,7 +113,10 @@ if (OMATH_ENABLE_HOOKING)
     target_link_libraries(${PROJECT_NAME} PRIVATE safetyhook::safetyhook)
 
     if (WIN32)
-        target_link_libraries(${PROJECT_NAME} PRIVATE d3d9 d3d11 d3d12 dxgi)
+        target_link_libraries(${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 ()
 

examples/CMakeLists.txt

@@ -5,15 +5,16 @@ add_subdirectory(example_signature_scan)
 add_subdirectory(example_hud)
 
 if(OMATH_ENABLE_HOOKING AND WIN32)
-    # Requires imgui with dx9-binding, dx11-binding, dx12-binding, win32-binding.
+    # Requires imgui with dx9-binding, dx11-binding, dx12-binding, opengl3-binding, win32-binding.
-    # Install via: vcpkg install imgui[dx9-binding,dx11-binding,dx12-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 — DX hook examples skipped")
+        message(STATUS "[omath] imgui not found - hook examples skipped")
     endif()
 endif()
 

examples/example_dx11_hook/dllmain.cpp

@@ -1,3 +1,4 @@
+#include "omath/hooks/hooks_manager.hpp"
 #include <Windows.h>
 #include <d3d11.h>
 #include <dxgi.h>
@@ -5,8 +6,6 @@
 #include <imgui_impl_dx11.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
@@ -51,12 +50,14 @@ namespace
         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> {
+        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(desc.OutputWindow);
+        std::ignore = mgr.hook_wnd_proc(desc.OutputWindow);
 
         g_initialized = true;
     }
@@ -105,7 +106,9 @@ BOOL WINAPI DllMain(HINSTANCE h_instance, DWORD reason, LPVOID)
     if (reason == DLL_PROCESS_ATTACH)
     {
         DisableThreadLibraryCalls(h_instance);
-        CreateThread(nullptr, 0, [](LPVOID) -> DWORD
+        CreateThread(
+                nullptr, 0,
+                [](LPVOID) -> DWORD
                 {
                     while (!GetModuleHandle("d3d11.dll"))
                         Sleep(100);
@@ -115,7 +118,8 @@ BOOL WINAPI DllMain(HINSTANCE h_instance, DWORD reason, LPVOID)
                     mgr.set_on_resize_buffers(on_resize_buffers);
                     mgr.hook_dx11();
                     return 0;
-        }, nullptr, 0, nullptr);
+                },
+                nullptr, 0, nullptr);
     }
     else if (reason == DLL_PROCESS_DETACH)
     {
@@ -130,9 +134,21 @@ BOOL WINAPI DllMain(HINSTANCE h_instance, DWORD reason, LPVOID)
             ImGui::DestroyContext();
         }
 
-        if (g_render_target_view) { g_render_target_view->Release(); g_render_target_view = nullptr; }
+        if (g_render_target_view)
-        if (g_context)            { g_context->Release();            g_context            = nullptr; }
+        {
-        if (g_device)             { g_device->Release();             g_device             = nullptr; }
+            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_hud/gui/main_window.cpp

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

examples/example_hud/gui/main_window.hpp

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

examples/example_opengl_hook/CMakeLists.txt

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

examples/example_opengl_hook/dllmain.cpp

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

include/omath/3d_primitives/obb.hpp

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

include/omath/collision/epa_algorithm.hpp

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

include/omath/collision/line_tracer.hpp

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

include/omath/engines/cry_engine/constants.hpp

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

include/omath/engines/cry_engine/formulas.hpp

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

include/omath/engines/frostbite_engine/formulas.hpp

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

include/omath/engines/iw_engine/formulas.hpp

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

include/omath/engines/opengl_engine/formulas.hpp

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

include/omath/engines/source_engine/formulas.hpp

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

include/omath/engines/unity_engine/formulas.hpp

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

include/omath/engines/unreal_engine/formulas.hpp

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

include/omath/hooks/hooks_manager.hpp

@@ -1,11 +1,13 @@
 #pragma once
 
 #ifdef OMATH_ENABLE_HOOKING
+#include <cstdint>
 #include <functional>
+#include <memory>
 #include <optional>
 #include <shared_mutex>
-#include <cstdint>
 
+#ifdef _WIN32
 #ifndef WIN32_LEAN_AND_MEAN
 #define WIN32_LEAN_AND_MEAN
 #endif
@@ -13,9 +15,15 @@
 #define NOMINMAX
 #endif
 #include <Windows.h>
-#include <dxgi.h>
-#include <d3d9.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
@@ -23,25 +31,42 @@ 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*)>;
+        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_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);
@@ -53,7 +78,13 @@ namespace omath::hooks
 
         [[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);
@@ -62,32 +93,64 @@ namespace omath::hooks
         [[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);
-        static HRESULT __stdcall dx11_resize_buffers_detour(IDXGISwapChain* p_swap_chain, UINT buffer_count,
+        [[nodiscard]]
-                                                            UINT width, UINT height, DXGI_FORMAT new_format,
+        static HRESULT __stdcall dx11_resize_buffers_detour(IDXGISwapChain* p_swap_chain, UINT buffer_count, UINT width,
-                                                            UINT swap_chain_flags);
+                                                            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);
-        static HRESULT __stdcall dx12_resize_buffers_detour(IDXGISwapChain* p_swap_chain, UINT buffer_count,
+        [[nodiscard]]
-                                                            UINT width, UINT height, DXGI_FORMAT new_format,
+        static HRESULT __stdcall dx12_resize_buffers_detour(IDXGISwapChain* p_swap_chain, UINT buffer_count, UINT width,
-                                                            UINT swap_chain_flags);
+                                                            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
 
-        mutable std::shared_mutex m_mutex;
+#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;
@@ -107,16 +170,31 @@ namespace omath::hooks
         safetyhook::InlineHook m_dx12_resize_buffers_hook;
         safetyhook::InlineHook m_dx12_execute_command_lists_hook;
 
-        dx9_present_callback   m_dx9_present_cb;
+        safetyhook::InlineHook m_opengl_wgl_swap_buffers_hook;
-        dx9_reset_callback     m_dx9_reset_cb;
+        safetyhook::InlineHook m_opengl_swap_buffers_hook;
-        dx9_end_scene_callback m_dx9_end_scene_cb;
+#endif // _WIN32
 
-        present_callback               m_present_cb;
+#ifdef __linux__
-        resize_buffers_callback        m_resize_buffers_cb;
+        safetyhook::InlineHook m_opengl_glx_swap_buffers_hook;
-        execute_command_lists_callback m_execute_command_lists_cb;
+#endif // __linux__
-        wnd_proc_callback              m_wnd_proc_cb;
+
+        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
 
@@ -125,11 +203,12 @@ namespace omath::hooks
     class HooksManager final
     {
         HooksManager() = default;
+
     public:
         [[nodiscard]] static HooksManager& get();
         HooksManager(const HooksManager&) = delete;
         ~HooksManager();
     };
-}
+} // namespace omath::hooks
 
 #endif

include/omath/hud/entity_overlay.hpp

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

include/omath/hud/entity_overlay_widgets.hpp

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

include/omath/linear_algebra/mat.hpp

@@ -5,6 +5,7 @@
 #include "vector3.hpp"
 #include <algorithm>
 #include <array>
+#include <cmath>
 #include <iomanip>
 #include <numeric>
 #include <sstream>
@@ -58,7 +59,7 @@ namespace omath
             clear();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use store ordering")]]
         consteval static MatStoreType get_store_ordering() noexcept
         {
             return StoreType;
@@ -93,13 +94,13 @@ namespace omath
             m_data = other.m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr Type& operator[](const size_t row, const size_t col)
         {
             return at(row, col);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr const Type& operator[](const size_t row, const size_t col) const
         {
             return at(row, col);
@@ -110,25 +111,25 @@ namespace omath
             m_data = std::move(other.m_data);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use row count")]]
         static constexpr size_t row_count() noexcept
         {
             return Rows;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use column count")]]
         static constexpr size_t columns_count() noexcept
         {
             return Columns;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use matrix size")]]
-        static consteval MatSize size() noexcept
+        static constexpr MatSize size() noexcept
         {
             return {Rows, Columns};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use element reference")]]
         constexpr const Type& at(const size_t row_index, const size_t column_index) const
         {
 #if !defined(NDEBUG) && defined(OMATH_SUPRESS_SAFETY_CHECKS)
@@ -148,12 +149,12 @@ namespace omath
             }
         }
 
-        [[nodiscard]] constexpr Type& at(const size_t row_index, const size_t column_index)
+        [[nodiscard("You must use element reference")]] constexpr Type& at(const size_t row_index, const size_t column_index)
         {
             return const_cast<Type&>(std::as_const(*this).at(row_index, column_index));
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use sum of elements")]]
         constexpr Type sum() const noexcept
         {
             return std::accumulate(m_data.begin(), m_data.end(), static_cast<Type>(0));
@@ -170,7 +171,7 @@ namespace omath
         }
 
         // Operator overloading for multiplication with another Mat
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, StoreType>
         operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
         {
@@ -201,7 +202,7 @@ namespace omath
             return *this = *this * other;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result matrix")]]
         constexpr Mat operator*(const Type& value) const noexcept
         {
             Mat result(*this);
@@ -215,7 +216,7 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use result matrix")]]
         constexpr Mat operator/(const Type& value) const noexcept
         {
             Mat result(*this);
@@ -239,7 +240,7 @@ namespace omath
             return *this;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use transposed matrix")]]
         constexpr Mat<Columns, Rows, Type, StoreType> transposed() const noexcept
         {
             Mat<Columns, Rows, Type, StoreType> transposed;
@@ -250,7 +251,7 @@ namespace omath
             return transposed;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use determinant")]]
         constexpr Type determinant() const
         {
             static_assert(Rows == Columns, "Determinant is only defined for square matrices.");
@@ -271,10 +272,11 @@ namespace omath
                 }
                 return det;
             }
+            else // For no reason MSVC triggers on it as unreachable code so we keep else here.
                 std::unreachable();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use stripped matrix")]]
         constexpr Mat<Rows - 1, Columns - 1, Type, StoreType> strip(const size_t row, const size_t column) const
         {
             static_assert(Rows - 1 > 0 && Columns - 1 > 0);
@@ -295,32 +297,32 @@ namespace omath
             return result;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use minor")]]
         constexpr Type minor(const size_t row, const size_t column) const
         {
             return strip(row, column).determinant();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use algebraic complement")]]
         constexpr Type alg_complement(const size_t row, const size_t column) const
         {
             const auto minor_value = minor(row, column);
             return (row + column + 2) % 2 == 0 ? minor_value : -minor_value;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use raw array")]]
         constexpr const std::array<Type, Rows * Columns>& raw_array() const
         {
             return m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use raw array")]]
         constexpr std::array<Type, Rows * Columns>& raw_array()
         {
             return m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use string representation")]]
         std::string to_string() const noexcept
         {
             std::ostringstream oss;
@@ -342,14 +344,14 @@ namespace omath
             return oss.str();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use wide string representation")]]
         std::wstring to_wstring() const noexcept
         {
             const auto ascii_string = to_string();
             return {ascii_string.cbegin(), ascii_string.cend()};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use UTF-8 string representation")]]
         // ReSharper disable once CppInconsistentNaming
         std::u8string to_u8string() const noexcept
         {
@@ -357,20 +359,20 @@ namespace omath
             return {ascii_string.cbegin(), ascii_string.cend()};
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator==(const Mat& mat) const
         {
             return m_data == mat.m_data;
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use comparison result")]]
         bool operator!=(const Mat& mat) const
         {
             return !operator==(mat);
         }
 
         // Static methods that return fixed-size matrices
-        [[nodiscard]]
+        [[nodiscard("You must use screen matrix")]]
         constexpr static Mat<4, 4> to_screen_mat(const Type& screen_width, const Type& screen_height) noexcept
         {
             return {
@@ -381,7 +383,7 @@ namespace omath
             };
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use inverted matrix")]]
         constexpr std::optional<Mat> inverted() const
         {
             const auto det = determinant();
@@ -404,7 +406,7 @@ namespace omath
     private:
         std::array<Type, Rows * Columns> m_data;
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
         cache_friendly_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
         {
@@ -419,7 +421,7 @@ namespace omath
             return result;
         }
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> cache_friendly_multiply_col_major(
                 const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
         {
@@ -434,7 +436,7 @@ namespace omath
             return result;
         }
 #ifdef OMATH_USE_AVX2
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>
         avx_multiply_col_major(const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
         {
@@ -504,7 +506,7 @@ namespace omath
             return result;
         }
 
-        template<size_t OtherColumns> [[nodiscard]]
+        template<size_t OtherColumns> [[nodiscard("You must use result matrix")]]
         constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
         avx_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
         {
@@ -575,20 +577,20 @@ namespace omath
 #endif
     };
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard("You must use row matrix")]]
     constexpr static Mat<1, 4, Type, St> mat_row_from_vector(const Vector3<Type>& vector) noexcept
     {
         return {{vector.x, vector.y, vector.z, 1}};
     }
 
-    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard("You must use column matrix")]]
     constexpr static Mat<4, 1, Type, St> mat_column_from_vector(const Vector3<Type>& vector) noexcept
     {
         return {{vector.x}, {vector.y}, {vector.z}, {1}};
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use translation matrix")]]
     constexpr Mat<4, 4, Type, St> mat_translation(const Vector3<Type>& diff) noexcept
     {
         return
@@ -600,7 +602,7 @@ namespace omath
         };
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use scale matrix")]]
     constexpr Mat<4, 4, Type, St> mat_scale(const Vector3<Type>& scale) noexcept
     {
         return {
@@ -611,8 +613,55 @@ namespace omath
         };
     }
 
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    [[nodiscard("You must use extracted origin")]]
+    constexpr Vector3<Type> mat_extract_origin(const Mat<4, 4, Type, St>& mat) noexcept
+    {
+        return {mat.at(0, 3), mat.at(1, 3), mat.at(2, 3)};
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    [[nodiscard("You must use extracted scale")]]
+    Vector3<Type> mat_extract_scale(const Mat<4, 4, Type, St>& mat) noexcept
+    {
+        auto column_length = [](const Type x, const Type y, const Type z) {
+            return static_cast<Type>(std::sqrt(x * x + y * y + z * z));
+        };
+
+        const auto scale_x = column_length(mat.at(0, 0), mat.at(1, 0), mat.at(2, 0));
+        const auto scale_y = column_length(mat.at(0, 1), mat.at(1, 1), mat.at(2, 1));
+        const auto scale_z = column_length(mat.at(0, 2), mat.at(1, 2), mat.at(2, 2));
+
+        constexpr auto epsilon = std::numeric_limits<Type>::epsilon();
+
+        return {
+                std::abs(scale_x) < epsilon ? Type{1} : scale_x,
+                std::abs(scale_y) < epsilon ? Type{1} : scale_y,
+                std::abs(scale_z) < epsilon ? Type{1} : scale_z,
+        };
+    }
+
+    template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
+    requires std::is_floating_point_v<Type>
+    [[nodiscard("You must use extracted rotation")]]
+    Vector3<Type> mat_extract_rotation_zyx(const Mat<4, 4, Type, St>& mat) noexcept
+    {
+        const auto scale = mat_extract_scale(mat);
+        const auto m00 = mat.at(0, 0) / scale.x;
+        const auto m10 = mat.at(1, 0) / scale.x;
+        const auto m20 = mat.at(2, 0) / scale.x;
+        const auto m21 = mat.at(2, 1) / scale.y;
+        const auto m22 = mat.at(2, 2) / scale.z;
+
+        return {
+                angles::radians_to_degrees(std::atan2(m21, m22)),
+                angles::radians_to_degrees(std::asin(std::clamp(-m20, Type{-1}, Type{1}))),
+                angles::radians_to_degrees(std::atan2(m10, m00)),
+        };
+    }
+
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
     Mat<4, 4, Type, St> mat_rotation_axis_x(const Angle& angle) noexcept
     {
         return
@@ -625,7 +674,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
     Mat<4, 4, Type, St> mat_rotation_axis_y(const Angle& angle) noexcept
     {
         return
@@ -638,7 +687,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
-    [[nodiscard]]
+    [[nodiscard("You must use rotation matrix")]]
     Mat<4, 4, Type, St> mat_rotation_axis_z(const Angle& angle) noexcept
     {
         return
@@ -651,7 +700,7 @@ namespace omath
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
-    [[nodiscard]]
+    [[nodiscard("You must use camera view matrix")]]
     static Mat<4, 4, Type, St> mat_camera_view(const Vector3<Type>& forward, const Vector3<Type>& right,
                                                const Vector3<Type>& up, const Vector3<Type>& camera_origin) noexcept
     {
@@ -666,8 +715,8 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard]]
+    [[nodiscard("You must use perspective matrix")]]
-    Mat<4, 4, Type, St> mat_perspective_left_handed(const Type field_of_view, const Type aspect_ratio,
+    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 auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
@@ -688,8 +737,8 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard]]
+    [[nodiscard("You must use perspective matrix")]]
-    Mat<4, 4, Type, St> mat_perspective_right_handed(const Type field_of_view, const Type aspect_ratio,
+    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 auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
@@ -713,7 +762,7 @@ namespace omath
     // 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]]
+    [[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
@@ -730,7 +779,7 @@ namespace omath
         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), -(2.f * near * far) / (far - near)},
+                    {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();
@@ -738,7 +787,7 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard]]
+    [[nodiscard("You must use perspective matrix")]]
     Mat<4, 4, Type, St> mat_perspective_right_handed_horizontal_fov(const Type horizontal_fov,
                                                                     const Type aspect_ratio, const Type near,
                                                                     const Type far) noexcept
@@ -755,14 +804,14 @@ namespace omath
         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), -(2.f * near * far) / (far - near)},
+                    {Type{0}, Type{0}, -(far + near) / (far - near), -(Type{2} * near * far) / (far - near)},
                     {Type{0}, Type{0}, -Type{1},                     Type{0}}};
         else
             std::unreachable();
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard]]
+    [[nodiscard("You must use ortho matrix")]]
     Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
                                               const Type near, const Type far) noexcept
     {
@@ -787,7 +836,7 @@ namespace omath
     }
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
              NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
-    [[nodiscard]]
+    [[nodiscard("You must use ortho matrix")]]
     Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top,
                                                const Type near, const Type far) noexcept
     {
@@ -834,14 +883,14 @@ template<size_t Rows, size_t Columns, class Type, omath::MatStoreType StoreType>
 struct std::formatter<omath::Mat<Rows, Columns, Type, StoreType>> // NOLINT(*-dcl58-cpp)
 {
     using MatType = omath::Mat<Rows, Columns, Type, StoreType>;
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
 
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const MatType& mat, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/linear_algebra/vector2.hpp

@@ -28,7 +28,7 @@ namespace omath
 
         template<class CastedType>
         requires std::is_arithmetic_v<CastedType>
-        [[nodiscard]] constexpr explicit operator Vector2<CastedType>() const noexcept
+        [[nodiscard("You must use casted vector")]] constexpr explicit operator Vector2<CastedType>() const noexcept
         {
             return {static_cast<CastedType>(x), static_cast<CastedType>(y)};
         }
@@ -37,13 +37,13 @@ namespace omath
         }
 
         // 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);
@@ -115,45 +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;
         }
@@ -165,80 +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)};
@@ -249,7 +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;
@@ -265,14 +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

@@ -32,17 +32,20 @@ namespace omath
 
         template<class CastedType>
         requires std::is_arithmetic_v<CastedType>
-        [[nodiscard]] constexpr explicit operator Vector3<CastedType>() const noexcept
+        [[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]] constexpr bool operator==(const Vector3& other) const noexcept
+        [[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);
         }
@@ -118,118 +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();
@@ -240,8 +265,8 @@ namespace omath
             return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::from_radians(std::acos(dot(other) / bottom));
         }
 
-        [[nodiscard]] bool is_perpendicular(const Vector3& other,
+        [[nodiscard("You must use perpendicularity check result")]]
-                                            Type epsilon = static_cast<Type>(0.0001)) const noexcept
+        bool is_perpendicular(const Vector3& other, Type epsilon = static_cast<Type>(0.0001)) const noexcept
         {
             if (const auto angle = angle_between(other))
                 return std::abs(angle->as_degrees() - static_cast<Type>(90)) <= epsilon;
@@ -249,41 +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};
@@ -293,7 +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;
@@ -310,14 +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

@@ -24,19 +24,19 @@ namespace omath
 
         template<class CastedType>
         requires std::is_arithmetic_v<CastedType>
-        [[nodiscard]] constexpr explicit operator Vector4<CastedType>() const noexcept
+        [[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]]
+        [[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);
@@ -89,17 +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());
         }
@@ -111,6 +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);
@@ -120,86 +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 {
@@ -209,7 +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)};
@@ -220,7 +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;
@@ -237,13 +244,13 @@ template<> struct std::hash<omath::Vector4<float>>
 template<class Type>
 struct std::formatter<omath::Vector4<Type>> // NOLINT(*-dcl58-cpp)
 {
-    [[nodiscard]]
+    [[nodiscard("You must use parse iterator")]]
     static constexpr auto parse(std::format_parse_context& ctx)
     {
         return ctx.begin();
     }
     template<class FormatContext>
-    [[nodiscard]]
+    [[nodiscard("You must use format iterator")]]
     static auto format(const omath::Vector4<Type>& vec, FormatContext& ctx)
     {
         if constexpr (std::is_same_v<typename FormatContext::char_type, char>)

include/omath/lua/lua.hpp

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

include/omath/projection/camera.hpp

@@ -5,6 +5,7 @@
 #pragma once
 
 #include "omath/3d_primitives/aabb.hpp"
+#include "omath/3d_primitives/obb.hpp"
 #include "omath/linear_algebra/mat.hpp"
 #include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
@@ -31,7 +32,7 @@ namespace omath::projection
         float m_width;
         float m_height;
 
-        [[nodiscard]] constexpr float aspect_ratio() const
+        [[nodiscard("You must use aspect ratio")]] constexpr float aspect_ratio() const
         {
             return m_width / m_height;
         }
@@ -100,17 +101,18 @@ namespace omath::projection
         // 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]]
+        [[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]
-            return {FieldOfView::from_radians(NumericType{2} * std::atan(NumericType{1} / f)),
+            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]]
+        [[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]};
@@ -119,7 +121,7 @@ namespace omath::projection
             return TraitClass::calc_look_at_angle({}, forward_vector);
         }
 
-        [[nodiscard]]
+        [[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.
@@ -140,33 +142,33 @@ namespace omath::projection
             m_view_projection_matrix = std::nullopt;
             m_view_matrix = std::nullopt;
         }
-        [[nodiscard]]
+        [[nodiscard("You must use calculated look-at angles")]]
         ViewAnglesType calc_look_at_angles(const Vector3<NumericType>& look_to) const
         {
             return TraitClass::calc_look_at_angle(m_origin, look_to);
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use forward vector")]]
         Vector3<NumericType> get_forward() const noexcept
         {
             const auto& view_matrix = get_view_matrix();
             return {view_matrix[2, 0], view_matrix[2, 1], view_matrix[2, 2]};
         }
 
-        [[nodiscard]]
+        [[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]]
+        [[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]]
+        [[nodiscard("You must use absolute forward vector")]]
         Vector3<NumericType> get_abs_forward() const noexcept
         {
             if constexpr (axes.inverted_forward)
@@ -174,7 +176,7 @@ namespace omath::projection
             return get_forward();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use absolute right vector")]]
         Vector3<NumericType> get_abs_right() const noexcept
         {
             if constexpr (axes.inverted_right)
@@ -182,13 +184,14 @@ namespace omath::projection
             return get_right();
         }
 
-        [[nodiscard]]
+        [[nodiscard("You must use absolute up vector")]]
         Vector3<NumericType> get_abs_up() const noexcept
         {
             return get_up();
         }
 
-        [[nodiscard]] const Mat4X4Type& get_view_projection_matrix() const noexcept
+        [[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();
@@ -196,14 +199,14 @@ 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(
@@ -253,33 +256,33 @@ 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 NumericType& 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 NumericType& 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<NumericType>& 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<NumericType>, Error>
+        [[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);
@@ -295,7 +298,7 @@ namespace omath::projection
                 std::unreachable();
         }
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]] std::expected<Vector3<NumericType>, Error>
+        [[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);
@@ -311,7 +314,8 @@ namespace omath::projection
                 std::unreachable();
         }
 
-        [[nodiscard]] bool is_culled_by_frustum(const Triangle<Vector3<NumericType>>& triangle) const noexcept
+        [[nodiscard("You must use frustum culling result")]] bool
+        is_culled_by_frustum(const Triangle<Vector3<NumericType>>& triangle) const noexcept
         {
             // Transform to clip space (before perspective divide)
             auto to_clip = [this](const Vector3<NumericType>& point)
@@ -378,51 +382,12 @@ namespace omath::projection
             return false;
         }
 
-        [[nodiscard]] bool is_aabb_culled_by_frustum(const primitives::Aabb<NumericType>& aabb) const noexcept
+        [[nodiscard("You must use AABB frustum culling result")]] bool
+        is_aabb_culled_by_frustum(const primitives::Aabb<NumericType>& aabb) const noexcept
         {
-            const auto& m = get_view_projection_matrix();
-
-            // Gribb-Hartmann: extract 6 frustum planes from the view-projection matrix.
-            // Each plane is (a, b, c, d) such that ax + by + cz + d >= 0 means inside.
-            // For a 4x4 matrix with rows r0..r3:
-            //   Left   = r3 + r0
-            //   Right  = r3 - r0
-            //   Bottom = r3 + r1
-            //   Top    = r3 - r1
-            //   Near   = r3 + r2  ([-1,1]) or r2 ([0,1])
-            //   Far    = r3 - r2
-            struct Plane final
-            {
-                NumericType a, b, c, d;
-            };
-
-            const auto extract_plane = [&m](const int sign, const int row) -> Plane
-            {
-                return {
-                        m.at(3, 0) + static_cast<NumericType>(sign) * m.at(row, 0),
-                        m.at(3, 1) + static_cast<NumericType>(sign) * m.at(row, 1),
-                        m.at(3, 2) + static_cast<NumericType>(sign) * m.at(row, 2),
-                        m.at(3, 3) + static_cast<NumericType>(sign) * m.at(row, 3),
-                };
-            };
-
-            std::array<Plane, 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);
-
             // For each plane, find the AABB corner most in the direction of the plane normal
             // (the "positive vertex"). If it's outside, the entire AABB is outside.
-            for (const auto& [a, b, c, d] : planes)
+            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;
@@ -435,7 +400,28 @@ namespace omath::projection
             return false;
         }
 
-        [[nodiscard]] std::expected<Vector3<NumericType>, Error>
+        [[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
         {
@@ -464,7 +450,7 @@ namespace omath::projection
 
             return Vector3<NumericType>{projected.at(0, 0), projected.at(1, 0), projected.at(2, 0)};
         }
-        [[nodiscard]]
+        [[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();
@@ -487,7 +473,7 @@ namespace omath::projection
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]]
+        [[nodiscard("You must use world position")]]
         std::expected<Vector3<NumericType>, Error>
         screen_to_world(const Vector3<NumericType>& screen_pos) const noexcept
         {
@@ -495,7 +481,7 @@ namespace omath::projection
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]]
+        [[nodiscard("You must use world position")]]
         std::expected<Vector3<NumericType>, Error>
         screen_to_world(const Vector2<NumericType>& screen_pos) const noexcept
         {
@@ -517,8 +503,54 @@ namespace omath::projection
         Vector3<NumericType> m_origin;
 
     private:
+        struct FrustumPlane final
+        {
+            NumericType a, b, c, d;
+        };
+
+        // Gribb-Hartmann: extract 6 frustum planes from the view-projection matrix.
+        // Each plane is (a, b, c, d) such that ax + by + cz + d >= 0 means inside.
+        // For a 4x4 matrix with rows r0..r3:
+        //   Left   = r3 + r0
+        //   Right  = r3 - r0
+        //   Bottom = r3 + r1
+        //   Top    = r3 - r1
+        //   Near   = r3 + r2  ([-1,1]) or r2 ([0,1])
+        //   Far    = r3 - r2
+        [[nodiscard("You must use frustum planes")]] std::array<FrustumPlane, 6> extract_frustum_planes() const noexcept
+        {
+            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]] constexpr static bool is_ndc_out_of_bounds(const Type& ndc) noexcept
+        [[nodiscard("You must use NDC bounds check result")]] constexpr static bool
+        is_ndc_out_of_bounds(const Type& ndc) noexcept
         {
             constexpr auto eps = std::numeric_limits<NumericType>::epsilon();
 
@@ -531,7 +563,7 @@ namespace omath::projection
             return is_ndc_z_value_out_of_bounds(data[2]);
         }
         template<class ZType>
-        [[nodiscard]]
+        [[nodiscard("You must use NDC z bounds check result")]]
         constexpr static bool is_ndc_z_value_out_of_bounds(const ZType& z_ndc) noexcept
         {
             constexpr auto eps = std::numeric_limits<NumericType>::epsilon();
@@ -557,7 +589,7 @@ namespace omath::projection
                                 v
             */
 
-        [[nodiscard]] Vector3<NumericType>
+        [[nodiscard("You must use screen position")]] Vector3<NumericType>
         ndc_to_screen_position_from_top_left_corner(const Vector3<NumericType>& ndc) const noexcept
         {
             /*
@@ -575,7 +607,7 @@ namespace omath::projection
                     (ndc.y / -NumericType{2} + NumericType{0.5}) * m_view_port.m_height, ndc.z};
         }
 
-        [[nodiscard]] Vector3<NumericType>
+        [[nodiscard("You must use screen position")]] Vector3<NumericType>
         ndc_to_screen_position_from_bottom_left_corner(const Vector3<NumericType>& ndc) const noexcept
         {
             /*
@@ -594,7 +626,8 @@ namespace omath::projection
         }
 
         template<ScreenStart screen_start = ScreenStart::TOP_LEFT_CORNER>
-        [[nodiscard]] Vector3<NumericType> screen_to_ndc(const Vector3<NumericType>& 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 * NumericType{2} - NumericType{1},

source/engines/cry_engine/formulas.cpp

@@ -34,16 +34,37 @@ namespace omath::cry_engine
                * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.roll)
                * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
+
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.y),
+        };
+    }
+
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
         if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
 
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
         std::unreachable();
     }
-} // namespace omath::unity_engine
+} // namespace omath::cry_engine

source/engines/cry_engine/traits/camera_trait.cpp

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

source/engines/frostbite_engine/formulas.cpp

@@ -34,15 +34,36 @@ namespace omath::frostbite_engine
                * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.yaw)
                * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
+
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.y),
+                RollAngle::from_degrees(angles.z),
+        };
+    }
+
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
         if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
 
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+            return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
 
         std::unreachable();

source/engines/iw_engine/formulas.cpp

@@ -30,6 +30,26 @@ namespace omath::iw_engine
         return mat_rotation_axis_z(angles.yaw) * mat_rotation_axis_y(angles.pitch) * mat_rotation_axis_x(angles.roll);
     }
 
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.y),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.x),
+        };
+    }
+
     Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept
     {
         return mat_camera_view(forward_vector(angles), right_vector(angles), up_vector(angles), cam_origin);
@@ -47,11 +67,11 @@ namespace omath::iw_engine
         const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);
 
         if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed<
+            return mat_perspective_left_handed_vertical_fov<
                     float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                     vertical_fov, aspect_ratio, near, far);
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed<
+            return mat_perspective_left_handed_vertical_fov<
                     float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
                     vertical_fov, aspect_ratio, near, far);
         std::unreachable();

source/engines/opengl_engine/formulas.cpp

@@ -36,15 +36,36 @@ namespace omath::opengl_engine
                * mat_rotation_axis_y<float, MatStoreType::COLUMN_MAJOR>(angles.yaw)
                * mat_rotation_axis_x<float, MatStoreType::COLUMN_MAJOR>(angles.pitch);
     }
+
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.y),
+                RollAngle::from_degrees(angles.z),
+        };
+    }
+
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_right_handed<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
+            return mat_perspective_right_handed_vertical_fov<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
 
         if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_right_handed<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            return mat_perspective_right_handed_vertical_fov<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                         field_of_view, aspect_ratio, near, far);
 
         std::unreachable();

source/engines/source_engine/formulas.cpp

@@ -17,6 +17,26 @@ namespace omath::source_engine
         return mat_rotation_axis_z(angles.yaw) * mat_rotation_axis_y(angles.pitch) * mat_rotation_axis_x(angles.roll);
     }
 
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.y),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(angles.x),
+        };
+    }
+
     Vector3<float> right_vector(const ViewAngles& angles) noexcept
     {
         const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
@@ -47,11 +67,11 @@ namespace omath::source_engine
         const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);
 
         if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return mat_perspective_left_handed<
+            return mat_perspective_left_handed_vertical_fov<
                     float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                     vertical_fov, aspect_ratio, near, far);
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return mat_perspective_left_handed<
+            return mat_perspective_left_handed_vertical_fov<
                     float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
                     vertical_fov, aspect_ratio, near, far);
         std::unreachable();

source/engines/unity_engine/formulas.cpp

@@ -34,14 +34,35 @@ namespace omath::unity_engine
                * mat_rotation_axis_y<float, MatStoreType::ROW_MAJOR>(angles.yaw)
                * mat_rotation_axis_x<float, MatStoreType::ROW_MAJOR>(angles.pitch);
     }
+
+    Vector3<float> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    Vector3<float> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(angles.x),
+                YawAngle::from_degrees(angles.y),
+                RollAngle::from_degrees(angles.z),
+        };
+    }
+
     Mat4X4 calc_perspective_projection_matrix(const float field_of_view, const float aspect_ratio, const float near,
                                               const float far, const NDCDepthRange ndc_depth_range) noexcept
     {
         if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
-            return omath::mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
+            return omath::mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
                     field_of_view, aspect_ratio, near, far);
         if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
-            return omath::mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR,
+            return omath::mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
                                                        NDCDepthRange::NEGATIVE_ONE_TO_ONE>(field_of_view, aspect_ratio,
                                                                                            near, far);
         std::unreachable();

source/engines/unreal_engine/formulas.cpp

@@ -39,6 +39,26 @@ namespace omath::unreal_engine
     }
 
 
+    Vector3<double> extract_origin(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_origin(mat);
+    }
+
+    Vector3<double> extract_scale(const Mat4X4& mat) noexcept
+    {
+        return mat_extract_scale(mat);
+    }
+
+    ViewAngles extract_rotation_angles(const Mat4X4& mat) noexcept
+    {
+        const auto angles = mat_extract_rotation_zyx(mat);
+        return {
+                PitchAngle::from_degrees(-angles.y),
+                YawAngle::from_degrees(angles.z),
+                RollAngle::from_degrees(-angles.x),
+        };
+    }
+
     Mat4X4 calc_perspective_projection_matrix(const double field_of_view, const double aspect_ratio, const double near,
                                               const double far, const NDCDepthRange ndc_depth_range) noexcept
     {

source/hooks/hooks_manager.cpp

@@ -1,10 +1,20 @@
 #include "omath/hooks/hooks_manager.hpp"
 
 #ifdef OMATH_ENABLE_HOOKING
+
+#ifdef _WIN32
 #include <d3d11.h>
+#endif // _WIN32
+
+#ifdef __linux__
+#include <dlfcn.h>
+#endif // __linux__
 
 namespace
 {
+#ifdef _WIN32
+    thread_local bool g_is_inside_opengl_swap_buffers = false;
+
     class DummyWindow final
     {
         WNDCLASSEX m_window_class{};
@@ -19,8 +29,8 @@ namespace
             m_window_class.hInstance = GetModuleHandle(nullptr);
             m_window_class.lpszClassName = "OM";
             RegisterClassEx(&m_window_class);
-            m_window_handle = CreateWindow(m_window_class.lpszClassName, "Dummy", WS_OVERLAPPEDWINDOW,
+            m_window_handle = CreateWindow(m_window_class.lpszClassName, "Dummy", WS_OVERLAPPEDWINDOW, 0, 0, 100, 100,
-                                           0, 0, 100, 100, nullptr, nullptr, m_window_class.hInstance, nullptr);
+                                           nullptr, nullptr, m_window_class.hInstance, nullptr);
         }
         ~DummyWindow()
         {
@@ -28,8 +38,14 @@ namespace
                 DestroyWindow(m_window_handle);
             UnregisterClass(m_window_class.lpszClassName, m_window_class.hInstance);
         }
-        [[nodiscard]] HWND handle() const { return m_window_handle; }
+        [[nodiscard]] HWND handle() const
-        [[nodiscard]] bool valid()  const { return m_window_handle != nullptr; }
+        {
+            return m_window_handle;
+        }
+        [[nodiscard]] bool valid() const
+        {
+            return m_window_handle != nullptr;
+        }
     };
 
     void* vtable_fn(void* com_obj, std::size_t index)
@@ -37,6 +53,15 @@ namespace
         return (*reinterpret_cast<void***>(com_obj))[index];
     }
 
+    void* module_proc(const char* module_name, const char* proc_name)
+    {
+        const HMODULE module = GetModuleHandle(module_name);
+        if (!module)
+            return nullptr;
+
+        return reinterpret_cast<void*>(GetProcAddress(module, proc_name));
+    }
+
     struct dx12_vtable_fns
     {
         void* present;
@@ -60,12 +85,18 @@ namespace
 
         ~dx12_com_objects()
         {
-            if (swap_chain)        swap_chain->Release();
+            if (swap_chain)
-            if (command_list)      command_list->Release();
+                swap_chain->Release();
-            if (command_allocator) command_allocator->Release();
+            if (command_list)
-            if (command_queue)     command_queue->Release();
+                command_list->Release();
-            if (device)            device->Release();
+            if (command_allocator)
-            if (factory)           factory->Release();
+                command_allocator->Release();
+            if (command_queue)
+                command_queue->Release();
+            if (device)
+                device->Release();
+            if (factory)
+                factory->Release();
         }
     };
 
@@ -79,10 +110,10 @@ namespace
         if (!d3d12_module || !dxgi_module)
             return std::nullopt;
 
-        const auto create_dxgi_factory = reinterpret_cast<create_dxgi_factory_fn>(
+        const auto create_dxgi_factory =
-            GetProcAddress(dxgi_module, "CreateDXGIFactory"));
+                reinterpret_cast<create_dxgi_factory_fn>(GetProcAddress(dxgi_module, "CreateDXGIFactory"));
-        const auto d3d12_create_device = reinterpret_cast<d3d12_create_device_fn>(
+        const auto d3d12_create_device =
-            GetProcAddress(d3d12_module, "D3D12CreateDevice"));
+                reinterpret_cast<d3d12_create_device_fn>(GetProcAddress(d3d12_module, "D3D12CreateDevice"));
 
         if (!create_dxgi_factory || !d3d12_create_device)
             return std::nullopt;
@@ -96,8 +127,7 @@ namespace
         if (objs.factory->EnumAdapters(0, &adapter) == DXGI_ERROR_NOT_FOUND)
             return std::nullopt;
 
-        const HRESULT device_hr = d3d12_create_device(adapter, D3D_FEATURE_LEVEL_11_0,
+        const HRESULT device_hr = d3d12_create_device(adapter, D3D_FEATURE_LEVEL_11_0, __uuidof(ID3D12Device),
-                                                       __uuidof(ID3D12Device),
                                                       reinterpret_cast<void**>(&objs.device));
         adapter->Release();
         if (FAILED(device_hr))
@@ -110,13 +140,12 @@ namespace
                                                    reinterpret_cast<void**>(&objs.command_queue))))
             return std::nullopt;
 
-        if (FAILED(objs.device->CreateCommandAllocator(D3D12_COMMAND_LIST_TYPE_DIRECT,
+        if (FAILED(objs.device->CreateCommandAllocator(D3D12_COMMAND_LIST_TYPE_DIRECT, __uuidof(ID3D12CommandAllocator),
-                                                        __uuidof(ID3D12CommandAllocator),
                                                        reinterpret_cast<void**>(&objs.command_allocator))))
             return std::nullopt;
 
-        if (FAILED(objs.device->CreateCommandList(0, D3D12_COMMAND_LIST_TYPE_DIRECT, objs.command_allocator,
+        if (FAILED(objs.device->CreateCommandList(0, D3D12_COMMAND_LIST_TYPE_DIRECT, objs.command_allocator, nullptr,
-                                                   nullptr, __uuidof(ID3D12GraphicsCommandList),
+                                                  __uuidof(ID3D12GraphicsCommandList),
                                                   reinterpret_cast<void**>(&objs.command_list))))
             return std::nullopt;
 
@@ -143,6 +172,7 @@ namespace
                 vtable_fn(objs.command_queue, 10), // ID3D12CommandQueue::ExecuteCommandLists
         };
     }
+#endif // _WIN32
 } // namespace
 
 namespace omath::hooks
@@ -155,15 +185,19 @@ namespace omath::hooks
 
     HooksManager::~HooksManager()
     {
+#ifdef _WIN32
         unhook_wnd_proc();
         unhook_dx9();
         unhook_dx11();
         unhook_dx12();
+#endif // _WIN32
+        unhook_opengl();
     }
 
+#ifdef _WIN32
     bool HooksManager::hook_dx9()
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_hook_state_mutex);
         if (m_is_dx9_hooked)
             return true;
 
@@ -176,8 +210,8 @@ namespace omath::hooks
             return false;
 
         using direct3d_create9_fn = IDirect3D9*(__stdcall*)(UINT);
-        const auto direct3d_create9 = reinterpret_cast<direct3d_create9_fn>(
+        const auto direct3d_create9 =
-            GetProcAddress(d3d9_module, "Direct3DCreate9"));
+                reinterpret_cast<direct3d_create9_fn>(GetProcAddress(d3d9_module, "Direct3DCreate9"));
         if (!direct3d_create9)
             return false;
 
@@ -202,17 +236,13 @@ namespace omath::hooks
         //   Reset    = 16
         //   Present  = 17
         //   EndScene = 42
-        m_dx9_present_hook = safetyhook::create_inline(
+        m_dx9_present_hook =
-            vtable_fn(device, 17),
+                safetyhook::create_inline(vtable_fn(device, 17), reinterpret_cast<void*>(&dx9_present_detour));
-            reinterpret_cast<void*>(&dx9_present_detour));
 
-        m_dx9_reset_hook = safetyhook::create_inline(
+        m_dx9_reset_hook = safetyhook::create_inline(vtable_fn(device, 16), reinterpret_cast<void*>(&dx9_reset_detour));
-            vtable_fn(device, 16),
-            reinterpret_cast<void*>(&dx9_reset_detour));
 
-        m_dx9_end_scene_hook = safetyhook::create_inline(
+        m_dx9_end_scene_hook =
-            vtable_fn(device, 42),
+                safetyhook::create_inline(vtable_fn(device, 42), reinterpret_cast<void*>(&dx9_end_scene_detour));
-            reinterpret_cast<void*>(&dx9_end_scene_detour));
 
         device->Release();
         d3d9->Release();
@@ -231,7 +261,7 @@ namespace omath::hooks
 
     void HooksManager::unhook_dx9()
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_hook_state_mutex);
         m_dx9_present_hook = {};
         m_dx9_reset_hook = {};
         m_dx9_end_scene_hook = {};
@@ -240,25 +270,25 @@ namespace omath::hooks
 
     void HooksManager::set_on_dx9_present(dx9_present_callback callback)
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_dx9_present_mutex);
-        m_dx9_present_cb = std::move(callback);
+        m_dx9_present_cb = callback ? std::make_shared<dx9_present_callback>(std::move(callback)) : nullptr;
     }
 
     void HooksManager::set_on_dx9_reset(dx9_reset_callback callback)
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_dx9_reset_mutex);
-        m_dx9_reset_cb = std::move(callback);
+        m_dx9_reset_cb = callback ? std::make_shared<dx9_reset_callback>(std::move(callback)) : nullptr;
     }
 
     void HooksManager::set_on_dx9_end_scene(dx9_end_scene_callback callback)
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_dx9_end_scene_mutex);
-        m_dx9_end_scene_cb = std::move(callback);
+        m_dx9_end_scene_cb = callback ? std::make_shared<dx9_end_scene_callback>(std::move(callback)) : nullptr;
     }
 
     bool HooksManager::hook_dx11()
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_hook_state_mutex);
         if (m_is_dx11_hooked)
             return true;
 
@@ -271,10 +301,9 @@ namespace omath::hooks
             return false;
 
         using d3d11_create_device_and_swap_chain_fn =
-            HRESULT(__stdcall*)(IDXGIAdapter*, D3D_DRIVER_TYPE, HMODULE, UINT,
+                HRESULT(__stdcall*)(IDXGIAdapter*, D3D_DRIVER_TYPE, HMODULE, UINT, const D3D_FEATURE_LEVEL*, UINT, UINT,
-                                const D3D_FEATURE_LEVEL*, UINT, UINT,
+                                    const DXGI_SWAP_CHAIN_DESC*, IDXGISwapChain**, ID3D11Device**, D3D_FEATURE_LEVEL*,
-                                const DXGI_SWAP_CHAIN_DESC*, IDXGISwapChain**,
+                                    ID3D11DeviceContext**);
-                                ID3D11Device**, D3D_FEATURE_LEVEL*, ID3D11DeviceContext**);
 
         const auto create_device_and_swap_chain = reinterpret_cast<d3d11_create_device_and_swap_chain_fn>(
                 GetProcAddress(d3d11_module, "D3D11CreateDeviceAndSwapChain"));
@@ -298,18 +327,16 @@ namespace omath::hooks
         ID3D11DeviceContext* device_context = nullptr;
         IDXGISwapChain* swap_chain = nullptr;
 
-        if (FAILED(create_device_and_swap_chain(nullptr, D3D_DRIVER_TYPE_HARDWARE, nullptr, 0,
+        if (FAILED(create_device_and_swap_chain(nullptr, D3D_DRIVER_TYPE_HARDWARE, nullptr, 0, feature_levels, 1,
-                                                feature_levels, 1, D3D11_SDK_VERSION,
+                                                D3D11_SDK_VERSION, &swap_chain_desc, &swap_chain, &device, nullptr,
-                                                &swap_chain_desc, &swap_chain,
+                                                &device_context)))
-                                                &device, nullptr, &device_context)))
             return false;
 
-        m_dx11_present_hook = safetyhook::create_inline(
+        m_dx11_present_hook = safetyhook::create_inline(vtable_fn(swap_chain, 8), // IDXGISwapChain::Present
-            vtable_fn(swap_chain, 8),   // IDXGISwapChain::Present
                                                         reinterpret_cast<void*>(&dx11_present_detour));
 
-        m_dx11_resize_buffers_hook = safetyhook::create_inline(
+        m_dx11_resize_buffers_hook =
-            vtable_fn(swap_chain, 13),  // IDXGISwapChain::ResizeBuffers
+                safetyhook::create_inline(vtable_fn(swap_chain, 13), // IDXGISwapChain::ResizeBuffers
                                           reinterpret_cast<void*>(&dx11_resize_buffers_detour));
 
         swap_chain->Release();
@@ -329,7 +356,7 @@ namespace omath::hooks
 
     void HooksManager::unhook_dx11()
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_hook_state_mutex);
         m_dx11_present_hook = {};
         m_dx11_resize_buffers_hook = {};
         m_is_dx11_hooked = false;
@@ -337,7 +364,7 @@ namespace omath::hooks
 
     bool HooksManager::hook_dx12()
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_hook_state_mutex);
         if (m_is_dx12_hooked)
             return true;
 
@@ -349,17 +376,13 @@ namespace omath::hooks
         if (!fns)
             return false;
 
-        m_dx12_present_hook = safetyhook::create_inline(
+        m_dx12_present_hook = safetyhook::create_inline(fns->present, reinterpret_cast<void*>(&dx12_present_detour));
-            fns->present,
-            reinterpret_cast<void*>(&dx12_present_detour));
 
-        m_dx12_resize_buffers_hook = safetyhook::create_inline(
+        m_dx12_resize_buffers_hook =
-            fns->resize_buffers,
+                safetyhook::create_inline(fns->resize_buffers, reinterpret_cast<void*>(&dx12_resize_buffers_detour));
-            reinterpret_cast<void*>(&dx12_resize_buffers_detour));
 
         m_dx12_execute_command_lists_hook = safetyhook::create_inline(
-            fns->execute_command_lists,
+                fns->execute_command_lists, reinterpret_cast<void*>(&dx12_execute_command_lists_detour));
-            reinterpret_cast<void*>(&dx12_execute_command_lists_detour));
 
         if (!m_dx12_present_hook || !m_dx12_resize_buffers_hook || !m_dx12_execute_command_lists_hook)
         {
@@ -375,34 +398,72 @@ namespace omath::hooks
 
     void HooksManager::unhook_dx12()
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_hook_state_mutex);
         m_dx12_present_hook = {};
         m_dx12_resize_buffers_hook = {};
         m_dx12_execute_command_lists_hook = {};
         m_is_dx12_hooked = false;
     }
 
+    bool HooksManager::hook_opengl()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        if (m_is_opengl_hooked)
+            return true;
+
+        if (void* wgl_swap_buffers = module_proc("opengl32.dll", "wglSwapBuffers"))
+        {
+            m_opengl_wgl_swap_buffers_hook = safetyhook::create_inline(
+                    wgl_swap_buffers, reinterpret_cast<void*>(&opengl_wgl_swap_buffers_detour));
+        }
+
+        if (void* swap_buffers = module_proc("gdi32.dll", "SwapBuffers"))
+        {
+            m_opengl_swap_buffers_hook =
+                    safetyhook::create_inline(swap_buffers, reinterpret_cast<void*>(&opengl_swap_buffers_detour));
+        }
+
+        if (!m_opengl_wgl_swap_buffers_hook && !m_opengl_swap_buffers_hook)
+        {
+            m_opengl_wgl_swap_buffers_hook = {};
+            m_opengl_swap_buffers_hook = {};
+            return false;
+        }
+
+        m_is_opengl_hooked = true;
+        return true;
+    }
+
+    void HooksManager::unhook_opengl()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        m_opengl_wgl_swap_buffers_hook = {};
+        m_opengl_swap_buffers_hook = {};
+        m_is_opengl_hooked = false;
+    }
+
     void HooksManager::set_on_present(present_callback callback)
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_present_mutex);
-        m_present_cb = std::move(callback);
+        m_present_cb = callback ? std::make_shared<present_callback>(std::move(callback)) : nullptr;
     }
 
     void HooksManager::set_on_resize_buffers(resize_buffers_callback callback)
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_resize_buffers_mutex);
-        m_resize_buffers_cb = std::move(callback);
+        m_resize_buffers_cb = callback ? std::make_shared<resize_buffers_callback>(std::move(callback)) : nullptr;
     }
 
     void HooksManager::set_on_execute_command_lists(execute_command_lists_callback callback)
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_execute_command_lists_mutex);
-        m_execute_command_lists_cb = std::move(callback);
+        m_execute_command_lists_cb =
+                callback ? std::make_shared<execute_command_lists_callback>(std::move(callback)) : nullptr;
     }
 
     bool HooksManager::hook_wnd_proc(HWND hwnd)
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_hook_state_mutex);
         if (m_is_wnd_proc_hooked)
             return true;
 
@@ -419,7 +480,7 @@ namespace omath::hooks
 
     void HooksManager::unhook_wnd_proc()
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_hook_state_mutex);
         if (!m_is_wnd_proc_hooked)
             return;
 
@@ -431,66 +492,67 @@ namespace omath::hooks
 
     void HooksManager::set_on_wnd_proc(wnd_proc_callback callback)
     {
-        std::unique_lock lock(m_mutex);
+        std::unique_lock lock(m_wnd_proc_mutex);
-        m_wnd_proc_cb = std::move(callback);
+        m_wnd_proc_cb = callback ? std::make_shared<wnd_proc_callback>(std::move(callback)) : nullptr;
     }
 
-    // Detour implementations: copy callback under shared lock, call it unlocked,
+    // Detour implementations: copy a shared_ptr to the callback under shared lock, call it unlocked,
-    // then call original. This avoids a deadlock if the callback itself calls set_on_*().
+    // then call original. This avoids copying captured lambda state every frame and still avoids
+    // a deadlock if the callback itself calls set_on_*().
 
     HRESULT __stdcall HooksManager::dx9_present_detour(IDirect3DDevice9* p_device, const RECT* p_source_rect,
                                                        const RECT* p_dest_rect, HWND h_dest_window_override,
                                                        const RGNDATA* p_dirty_region)
     {
         auto& mgr = get();
-        dx9_present_callback cb;
+        callback_ptr<dx9_present_callback> cb;
         {
-            std::shared_lock lock(mgr.m_mutex);
+            std::shared_lock lock(mgr.m_dx9_present_mutex);
             cb = mgr.m_dx9_present_cb;
         }
         if (cb)
-            cb(p_device, p_source_rect, p_dest_rect, h_dest_window_override, p_dirty_region);
+            (*cb)(p_device, p_source_rect, p_dest_rect, h_dest_window_override, p_dirty_region);
-        return mgr.m_dx9_present_hook.call<HRESULT>(p_device, p_source_rect, p_dest_rect,
+        return mgr.m_dx9_present_hook.call<HRESULT>(p_device, p_source_rect, p_dest_rect, h_dest_window_override,
-                                                    h_dest_window_override, p_dirty_region);
+                                                    p_dirty_region);
     }
 
     HRESULT __stdcall HooksManager::dx9_reset_detour(IDirect3DDevice9* p_device,
                                                      D3DPRESENT_PARAMETERS* p_presentation_parameters)
     {
         auto& mgr = get();
-        dx9_reset_callback cb;
+        callback_ptr<dx9_reset_callback> cb;
         {
-            std::shared_lock lock(mgr.m_mutex);
+            std::shared_lock lock(mgr.m_dx9_reset_mutex);
             cb = mgr.m_dx9_reset_cb;
         }
         if (cb)
-            cb(p_device, p_presentation_parameters);
+            (*cb)(p_device, p_presentation_parameters);
         return mgr.m_dx9_reset_hook.call<HRESULT>(p_device, p_presentation_parameters);
     }
 
     HRESULT __stdcall HooksManager::dx9_end_scene_detour(IDirect3DDevice9* p_device)
     {
         auto& mgr = get();
-        dx9_end_scene_callback cb;
+        callback_ptr<dx9_end_scene_callback> cb;
         {
-            std::shared_lock lock(mgr.m_mutex);
+            std::shared_lock lock(mgr.m_dx9_end_scene_mutex);
             cb = mgr.m_dx9_end_scene_cb;
         }
         if (cb)
-            cb(p_device);
+            (*cb)(p_device);
         return mgr.m_dx9_end_scene_hook.call<HRESULT>(p_device);
     }
 
     HRESULT __stdcall HooksManager::dx11_present_detour(IDXGISwapChain* p_swap_chain, UINT sync_interval, UINT flags)
     {
         auto& mgr = get();
-        present_callback cb;
+        callback_ptr<present_callback> cb;
         {
-            std::shared_lock lock(mgr.m_mutex);
+            std::shared_lock lock(mgr.m_present_mutex);
             cb = mgr.m_present_cb;
         }
         if (cb)
-            cb(p_swap_chain, sync_interval, flags);
+            (*cb)(p_swap_chain, sync_interval, flags);
         return mgr.m_dx11_present_hook.call<HRESULT>(p_swap_chain, sync_interval, flags);
     }
 
@@ -499,27 +561,27 @@ namespace omath::hooks
                                                                UINT swap_chain_flags)
     {
         auto& mgr = get();
-        resize_buffers_callback cb;
+        callback_ptr<resize_buffers_callback> cb;
         {
-            std::shared_lock lock(mgr.m_mutex);
+            std::shared_lock lock(mgr.m_resize_buffers_mutex);
             cb = mgr.m_resize_buffers_cb;
         }
         if (cb)
-            cb(p_swap_chain, buffer_count, width, height, new_format, swap_chain_flags);
+            (*cb)(p_swap_chain, buffer_count, width, height, new_format, swap_chain_flags);
-        return mgr.m_dx11_resize_buffers_hook.call<HRESULT>(p_swap_chain, buffer_count, width, height,
+        return mgr.m_dx11_resize_buffers_hook.call<HRESULT>(p_swap_chain, buffer_count, width, height, new_format,
-                                                            new_format, swap_chain_flags);
+                                                            swap_chain_flags);
     }
 
     HRESULT __stdcall HooksManager::dx12_present_detour(IDXGISwapChain* p_swap_chain, UINT sync_interval, UINT flags)
     {
         auto& mgr = get();
-        present_callback cb;
+        callback_ptr<present_callback> cb;
         {
-            std::shared_lock lock(mgr.m_mutex);
+            std::shared_lock lock(mgr.m_present_mutex);
             cb = mgr.m_present_cb;
         }
         if (cb)
-            cb(p_swap_chain, sync_interval, flags);
+            (*cb)(p_swap_chain, sync_interval, flags);
         return mgr.m_dx12_present_hook.call<HRESULT>(p_swap_chain, sync_interval, flags);
     }
 
@@ -528,15 +590,15 @@ namespace omath::hooks
                                                                UINT swap_chain_flags)
     {
         auto& mgr = get();
-        resize_buffers_callback cb;
+        callback_ptr<resize_buffers_callback> cb;
         {
-            std::shared_lock lock(mgr.m_mutex);
+            std::shared_lock lock(mgr.m_resize_buffers_mutex);
             cb = mgr.m_resize_buffers_cb;
         }
         if (cb)
-            cb(p_swap_chain, buffer_count, width, height, new_format, swap_chain_flags);
+            (*cb)(p_swap_chain, buffer_count, width, height, new_format, swap_chain_flags);
-        return mgr.m_dx12_resize_buffers_hook.call<HRESULT>(p_swap_chain, buffer_count, width, height,
+        return mgr.m_dx12_resize_buffers_hook.call<HRESULT>(p_swap_chain, buffer_count, width, height, new_format,
-                                                            new_format, swap_chain_flags);
+                                                            swap_chain_flags);
     }
 
     void __stdcall HooksManager::dx12_execute_command_lists_detour(ID3D12CommandQueue* p_command_queue,
@@ -544,33 +606,125 @@ namespace omath::hooks
                                                                    ID3D12CommandList* const* pp_command_lists)
     {
         auto& mgr = get();
-        execute_command_lists_callback cb;
+        callback_ptr<execute_command_lists_callback> cb;
         {
-            std::shared_lock lock(mgr.m_mutex);
+            std::shared_lock lock(mgr.m_execute_command_lists_mutex);
             cb = mgr.m_execute_command_lists_cb;
         }
         if (cb)
-            cb(p_command_queue, num_command_lists, pp_command_lists);
+            (*cb)(p_command_queue, num_command_lists, pp_command_lists);
         mgr.m_dx12_execute_command_lists_hook.call<void>(p_command_queue, num_command_lists, pp_command_lists);
     }
 
+    BOOL __stdcall HooksManager::opengl_wgl_swap_buffers_detour(HDC hdc)
+    {
+        auto& mgr = get();
+
+        if (!g_is_inside_opengl_swap_buffers)
+            return mgr.m_opengl_wgl_swap_buffers_hook.call<BOOL>(hdc);
+        g_is_inside_opengl_swap_buffers = true;
+
+        callback_ptr<opengl_swap_buffers_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_opengl_swap_buffers_mutex);
+            cb = mgr.m_opengl_swap_buffers_cb;
+        }
+        if (cb)
+            (*cb)(hdc);
+
+        const BOOL result = mgr.m_opengl_wgl_swap_buffers_hook.call<BOOL>(hdc);
+        g_is_inside_opengl_swap_buffers = false;
+        return result;
+    }
+
+    BOOL __stdcall HooksManager::opengl_swap_buffers_detour(HDC hdc)
+    {
+        auto& mgr = get();
+
+        if (g_is_inside_opengl_swap_buffers)
+            return mgr.m_opengl_swap_buffers_hook.call<BOOL>(hdc);
+        g_is_inside_opengl_swap_buffers = true;
+
+        callback_ptr<opengl_swap_buffers_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_opengl_swap_buffers_mutex);
+            cb = mgr.m_opengl_swap_buffers_cb;
+        }
+        if (cb)
+            (*cb)(hdc);
+
+        const BOOL result = mgr.m_opengl_swap_buffers_hook.call<BOOL>(hdc);
+        g_is_inside_opengl_swap_buffers = false;
+        return result;
+    }
+
     LRESULT __stdcall HooksManager::wnd_proc_detour(HWND hwnd, UINT msg, WPARAM w_param, LPARAM l_param)
     {
         auto& mgr = get();
-        wnd_proc_callback cb;
+        callback_ptr<wnd_proc_callback> cb;
         WNDPROC original;
         {
-            std::shared_lock lock(mgr.m_mutex);
+            std::shared_lock lock(mgr.m_wnd_proc_mutex);
             cb = mgr.m_wnd_proc_cb;
             original = mgr.m_original_wndproc;
         }
         if (cb)
         {
-            if (const auto result = cb(hwnd, msg, w_param, l_param))
+            if (const auto result = (*cb)(hwnd, msg, w_param, l_param))
                 return *result;
         }
         return CallWindowProc(original, hwnd, msg, w_param, l_param);
     }
+#endif // _WIN32
+
+#ifdef __linux__
+    bool HooksManager::hook_opengl()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        if (m_is_opengl_hooked)
+            return true;
+
+        void* glx_swap_buffers = dlsym(RTLD_DEFAULT, "glXSwapBuffers");
+        if (!glx_swap_buffers)
+            return false;
+
+        m_opengl_glx_swap_buffers_hook = safetyhook::create_inline(
+                glx_swap_buffers, reinterpret_cast<void*>(&opengl_glx_swap_buffers_detour));
+
+        if (!m_opengl_glx_swap_buffers_hook)
+            return false;
+
+        m_is_opengl_hooked = true;
+        return true;
+    }
+
+    void HooksManager::unhook_opengl()
+    {
+        std::unique_lock lock(m_hook_state_mutex);
+        m_opengl_glx_swap_buffers_hook = {};
+        m_is_opengl_hooked = false;
+    }
+
+    void HooksManager::opengl_glx_swap_buffers_detour(Display* display, GLXDrawable drawable)
+    {
+        auto& mgr = get();
+        callback_ptr<opengl_swap_buffers_callback> cb;
+        {
+            std::shared_lock lock(mgr.m_opengl_swap_buffers_mutex);
+            cb = mgr.m_opengl_swap_buffers_cb;
+        }
+        if (cb)
+            (*cb)(display, drawable);
+        mgr.m_opengl_glx_swap_buffers_hook.call<void>(display, drawable);
+    }
+#endif // __linux__
+
+    void HooksManager::set_on_opengl_swap_buffers(opengl_swap_buffers_callback callback)
+    {
+        std::unique_lock lock(m_opengl_swap_buffers_mutex);
+        m_opengl_swap_buffers_cb =
+                callback ? std::make_shared<opengl_swap_buffers_callback>(std::move(callback)) : nullptr;
+    }
 } // namespace omath::hooks
 
 #else // !OMATH_ENABLE_HOOKING

source/hud/entity_overlay.cpp

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

source/lua/lua.cpp

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

source/lua/lua_collision.cpp

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

source/lua/lua_engines.cpp

@@ -14,6 +14,8 @@
 #include <omath/engines/unreal_engine/camera.hpp>
 #include <sol/sol.hpp>
 #include <string_view>
+#include <type_traits>
+#include <utility>
 
 namespace
 {
@@ -85,44 +87,72 @@ namespace
         using PitchAngle = typename EngineTraits::PitchAngle;
         using ViewAngles = typename EngineTraits::ViewAngles;
         using Camera = typename EngineTraits::Camera;
+        using Mat4X4 = std::remove_cvref_t<decltype(std::declval<const Camera&>().get_view_matrix())>;
 
         auto engine_table = omath_table[subtable_name].get_or_create<sol::table>();
         auto types = omath_table["_types"].get<sol::table>();
 
         set_engine_aliases<PitchAngle, ViewAngles>(engine_table, types);
 
-        engine_table.new_usertype<Camera>(
+        auto camera_type = engine_table.new_usertype<Camera>(
                 "Camera",
                 sol::constructors<Camera(const omath::Vector3<ArithmeticType>&, const ViewAngles&,
                                          const omath::projection::ViewPort&, const omath::projection::FieldOfView&,
-                                         ArithmeticType, ArithmeticType)>(),
+                                         ArithmeticType, ArithmeticType)>());
-                "look_at", &Camera::look_at, "get_forward", &Camera::get_forward, "get_right", &Camera::get_right,
-                "get_up", &Camera::get_up, "get_origin", &Camera::get_origin, "get_view_angles",
-                &Camera::get_view_angles, "get_near_plane", &Camera::get_near_plane, "get_far_plane",
-                &Camera::get_far_plane, "get_field_of_view", &Camera::get_field_of_view, "set_origin",
-                &Camera::set_origin, "set_view_angles", &Camera::set_view_angles, "set_view_port",
-                &Camera::set_view_port, "set_field_of_view", &Camera::set_field_of_view, "set_near_plane",
-                &Camera::set_near_plane, "set_far_plane", &Camera::set_far_plane,
 
-                "world_to_screen",
+        camera_type["look_at"] = &Camera::look_at;
-                [](const Camera& cam, const omath::Vector3<ArithmeticType>& pos)
+        camera_type["get_forward"] = &Camera::get_forward;
+        camera_type["get_right"] = &Camera::get_right;
+        camera_type["get_up"] = &Camera::get_up;
+        camera_type["get_origin"] = &Camera::get_origin;
+        camera_type["get_view_angles"] = &Camera::get_view_angles;
+        camera_type["get_near_plane"] = &Camera::get_near_plane;
+        camera_type["get_far_plane"] = &Camera::get_far_plane;
+        camera_type["get_field_of_view"] = &Camera::get_field_of_view;
+        camera_type["set_origin"] = &Camera::set_origin;
+        camera_type["set_view_angles"] = &Camera::set_view_angles;
+        camera_type["set_view_port"] = &Camera::set_view_port;
+        camera_type["set_field_of_view"] = &Camera::set_field_of_view;
+        camera_type["set_near_plane"] = &Camera::set_near_plane;
+        camera_type["set_far_plane"] = &Camera::set_far_plane;
+
+        camera_type["get_view_matrix"] = [](const Camera& cam) -> Mat4X4
+        {
+            return cam.get_view_matrix();
+        };
+        camera_type["get_projection_matrix"] = [](const Camera& cam) -> Mat4X4
+        {
+            return cam.get_projection_matrix();
+        };
+        camera_type["get_view_projection_matrix"] = [](const Camera& cam) -> Mat4X4
+        {
+            return cam.get_view_projection_matrix();
+        };
+        camera_type["extract_projection_params"] = [](const Mat4X4& projection_matrix)
+        {
+            const auto params = Camera::extract_projection_params(projection_matrix);
+            return std::make_tuple(params.fov, params.aspect_ratio);
+        };
+        camera_type["calc_view_angles_from_view_matrix"] = &Camera::calc_view_angles_from_view_matrix;
+        camera_type["calc_origin_from_view_matrix"] = &Camera::calc_origin_from_view_matrix;
+
+        camera_type["world_to_screen"] = [](const Camera& cam, const omath::Vector3<ArithmeticType>& pos)
                 -> std::tuple<sol::optional<omath::Vector3<ArithmeticType>>, sol::optional<std::string>>
         {
             auto result = cam.world_to_screen(pos);
             if (result)
                 return {*result, sol::nullopt};
             return {sol::nullopt, projection_error_to_string(result.error())};
-                },
+        };
 
-                "screen_to_world",
+        camera_type["screen_to_world"] = [](const Camera& cam, const omath::Vector3<ArithmeticType>& pos)
-                [](const Camera& cam, const omath::Vector3<ArithmeticType>& pos)
                 -> std::tuple<sol::optional<omath::Vector3<ArithmeticType>>, sol::optional<std::string>>
         {
             auto result = cam.screen_to_world(pos);
             if (result)
                 return {*result, sol::nullopt};
             return {sol::nullopt, projection_error_to_string(result.error())};
-                });
+        };
     }
 
     // ---- Engine trait structs -----------------------------------------------

source/lua/lua_hud.cpp

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

source/lua/lua_mat.cpp

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

source/lua/lua_quaternion.cpp

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

tests/engines/unit_test_cry_engine.cpp

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

tests/engines/unit_test_transform_extraction.cpp

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

tests/general/unit_test_line_tracer_obb.cpp

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

tests/general/unit_test_mat.cpp

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

tests/general/unit_test_obb.cpp

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

tests/general/unit_test_vector2.cpp

@@ -240,6 +240,38 @@ TEST_F(UnitTestVector2, Abs_ZeroValues)
     EXPECT_FLOAT_EQ(v3.y, 0.0f);
 }
 
+TEST_F(UnitTestVector2, Abs_Const_ReturnsAbsoluteCopy)
+{
+    const Vector2 v3(-1.0f, -2.0f);
+    const Vector2 result = v3.abs();
+    EXPECT_FLOAT_EQ(result.x, 1.0f);
+    EXPECT_FLOAT_EQ(result.y, 2.0f);
+}
+
+TEST_F(UnitTestVector2, Abs_Const_DoesNotMutateSource)
+{
+    const Vector2 v3(-1.0f, -2.0f);
+    (void)v3.abs();
+    EXPECT_FLOAT_EQ(v3.x, -1.0f);
+    EXPECT_FLOAT_EQ(v3.y, -2.0f);
+}
+
+TEST_F(UnitTestVector2, Abs_Const_PositiveValues)
+{
+    const Vector2 v3(1.0f, 2.0f);
+    const Vector2 result = v3.abs();
+    EXPECT_FLOAT_EQ(result.x, 1.0f);
+    EXPECT_FLOAT_EQ(result.y, 2.0f);
+}
+
+TEST_F(UnitTestVector2, Abs_Const_MixedSigns)
+{
+    const Vector2 v3(-3.5f, 4.5f);
+    const Vector2 result = v3.abs();
+    EXPECT_FLOAT_EQ(result.x, 3.5f);
+    EXPECT_FLOAT_EQ(result.y, 4.5f);
+}
+
 TEST_F(UnitTestVector2, Sum)
 {
     constexpr float sum = Vector2(1.0f, 2.0f).sum();

tests/general/unit_test_vector3.cpp

@@ -244,6 +244,42 @@ TEST_F(UnitTestVector3, Abs)
     EXPECT_FLOAT_EQ(v3.z, 3.0f);
 }
 
+TEST_F(UnitTestVector3, Abs_Const_ReturnsAbsoluteCopy)
+{
+    const Vector3 v3(-1.0f, -2.0f, -3.0f);
+    const Vector3 result = v3.abs();
+    EXPECT_FLOAT_EQ(result.x, 1.0f);
+    EXPECT_FLOAT_EQ(result.y, 2.0f);
+    EXPECT_FLOAT_EQ(result.z, 3.0f);
+}
+
+TEST_F(UnitTestVector3, Abs_Const_DoesNotMutateSource)
+{
+    const Vector3 v3(-1.0f, -2.0f, -3.0f);
+    (void)v3.abs();
+    EXPECT_FLOAT_EQ(v3.x, -1.0f);
+    EXPECT_FLOAT_EQ(v3.y, -2.0f);
+    EXPECT_FLOAT_EQ(v3.z, -3.0f);
+}
+
+TEST_F(UnitTestVector3, Abs_Const_PositiveValues)
+{
+    const Vector3 v3(1.0f, 2.0f, 3.0f);
+    const Vector3 result = v3.abs();
+    EXPECT_FLOAT_EQ(result.x, 1.0f);
+    EXPECT_FLOAT_EQ(result.y, 2.0f);
+    EXPECT_FLOAT_EQ(result.z, 3.0f);
+}
+
+TEST_F(UnitTestVector3, Abs_Const_MixedSigns)
+{
+    const Vector3 v3(-1.5f, 2.5f, -3.5f);
+    const Vector3 result = v3.abs();
+    EXPECT_FLOAT_EQ(result.x, 1.5f);
+    EXPECT_FLOAT_EQ(result.y, 2.5f);
+    EXPECT_FLOAT_EQ(result.z, 3.5f);
+}
+
 TEST_F(UnitTestVector3, Sum)
 {
     constexpr auto sum = Vector3(1.0f, 2.0f, 3.0f).sum();

tests/general/unit_test_vector4.cpp

@@ -226,6 +226,46 @@ TEST_F(UnitTestVector4, Abs)
     EXPECT_FLOAT_EQ(v3.w, 4.0f);
 }
 
+TEST_F(UnitTestVector4, Abs_Const_ReturnsAbsoluteCopy)
+{
+    const Vector4 v3(-1.0f, -2.0f, -3.0f, -4.0f);
+    const Vector4 result = v3.abs();
+    EXPECT_FLOAT_EQ(result.x, 1.0f);
+    EXPECT_FLOAT_EQ(result.y, 2.0f);
+    EXPECT_FLOAT_EQ(result.z, 3.0f);
+    EXPECT_FLOAT_EQ(result.w, 4.0f);
+}
+
+TEST_F(UnitTestVector4, Abs_Const_DoesNotMutateSource)
+{
+    const Vector4 v3(-1.0f, -2.0f, -3.0f, -4.0f);
+    (void)v3.abs();
+    EXPECT_FLOAT_EQ(v3.x, -1.0f);
+    EXPECT_FLOAT_EQ(v3.y, -2.0f);
+    EXPECT_FLOAT_EQ(v3.z, -3.0f);
+    EXPECT_FLOAT_EQ(v3.w, -4.0f);
+}
+
+TEST_F(UnitTestVector4, Abs_Const_PositiveValues)
+{
+    const Vector4 v3(1.0f, 2.0f, 3.0f, 4.0f);
+    const Vector4 result = v3.abs();
+    EXPECT_FLOAT_EQ(result.x, 1.0f);
+    EXPECT_FLOAT_EQ(result.y, 2.0f);
+    EXPECT_FLOAT_EQ(result.z, 3.0f);
+    EXPECT_FLOAT_EQ(result.w, 4.0f);
+}
+
+TEST_F(UnitTestVector4, Abs_Const_MixedSigns)
+{
+    const Vector4 v3(-1.5f, 2.5f, -3.5f, 4.5f);
+    const Vector4 result = v3.abs();
+    EXPECT_FLOAT_EQ(result.x, 1.5f);
+    EXPECT_FLOAT_EQ(result.y, 2.5f);
+    EXPECT_FLOAT_EQ(result.z, 3.5f);
+    EXPECT_FLOAT_EQ(result.w, 4.5f);
+}
+
 TEST_F(UnitTestVector4, Sum)
 {
     constexpr float sum = Vector4(1.0f, 2.0f, 3.0f, 4.0f).sum();

tests/lua/collision_tests.lua

@@ -0,0 +1,169 @@
+local function approx(a, b, eps) return math.abs(a - b) < (eps or 1e-4) end
+
+local function cube_points()
+    return {
+        omath.Vec3.new(-1, -1, -1),
+        omath.Vec3.new(1, -1, -1),
+        omath.Vec3.new(-1, 1, -1),
+        omath.Vec3.new(1, 1, -1),
+        omath.Vec3.new(-1, -1, 1),
+        omath.Vec3.new(1, -1, 1),
+        omath.Vec3.new(-1, 1, 1),
+        omath.Vec3.new(1, 1, 1),
+    }
+end
+
+function Collision_Aabb_constructor_and_fields()
+    local aabb = omath.primitives.Aabb.new(omath.Vec3.new(-1, -2, -3), omath.Vec3.new(1, 2, 3))
+    assert(aabb.min.x == -1 and aabb.max.z == 3)
+    aabb.max = omath.Vec3.new(2, 3, 4)
+    assert(aabb.max.x == 2 and aabb.max.y == 3 and aabb.max.z == 4)
+end
+
+function Collision_Aabb_center_extents()
+    local aabb = omath.primitives.Aabb.new(omath.Vec3.new(-1, -2, -3), omath.Vec3.new(3, 6, 9))
+    local center = aabb:center()
+    local extents = aabb:extents()
+    assert(center.x == 1 and center.y == 2 and center.z == 3)
+    assert(extents.x == 2 and extents.y == 4 and extents.z == 6)
+end
+
+function Collision_Aabb_top_bottom_default_axis()
+    local aabb = omath.primitives.Aabb.new(omath.Vec3.new(-1, -2, -3), omath.Vec3.new(3, 6, 9))
+    assert(aabb:top().y == 6)
+    assert(aabb:bottom().y == -2)
+end
+
+function Collision_Aabb_top_bottom_explicit_axis()
+    local aabb = omath.primitives.Aabb.new(omath.Vec3.new(-1, -2, -3), omath.Vec3.new(3, 6, 9))
+    assert(aabb:top(omath.primitives.UpAxis.X).x == 3)
+    assert(aabb:bottom(omath.primitives.UpAxis.Z).z == -3)
+end
+
+function Collision_Aabb_is_collide()
+    local a = omath.primitives.Aabb.new(omath.Vec3.new(-1, -1, -1), omath.Vec3.new(1, 1, 1))
+    local b = omath.primitives.Aabb.new(omath.Vec3.new(0, 0, 0), omath.Vec3.new(2, 2, 2))
+    local c = omath.primitives.Aabb.new(omath.Vec3.new(3, 3, 3), omath.Vec3.new(4, 4, 4))
+    assert(a:is_collide(b))
+    assert(not a:is_collide(c))
+end
+
+function Collision_Aabb_as_table()
+    local aabb = omath.primitives.Aabb.new(omath.Vec3.new(-1, -2, -3), omath.Vec3.new(1, 2, 3))
+    local t = aabb:as_table()
+    assert(t.min.x == -1 and t.max.z == 3)
+end
+
+function Collision_Obb_constructor_and_vertices()
+    local obb = omath.primitives.Obb.new(
+        omath.Vec3.new(0, 0, 0),
+        omath.Vec3.new(1, 0, 0),
+        omath.Vec3.new(0, 1, 0),
+        omath.Vec3.new(0, 0, 1),
+        omath.Vec3.new(1, 2, 3)
+    )
+    local vertices = obb:vertices()
+    assert(#vertices == 8)
+    assert(vertices[1].x == -1 and vertices[1].y == -2 and vertices[1].z == -3)
+    assert(vertices[8].x == 1 and vertices[8].y == 2 and vertices[8].z == 3)
+end
+
+function Collision_Ray_constructor_and_direction()
+    local ray = omath.collision.Ray.new(omath.Vec3.new(1, 2, 3), omath.Vec3.new(4, 6, 3), true)
+    local dir = ray:direction_vector()
+    local normal = ray:direction_vector_normalized()
+    assert(ray.infinite_length)
+    assert(dir.x == 3 and dir.y == 4 and dir.z == 0)
+    assert(approx(normal:length(), 1))
+end
+
+function Collision_LineTracer_triangle_hit()
+    local tri = omath.Triangle.new(omath.Vec3.new(0, 0, 0), omath.Vec3.new(2, 0, 0), omath.Vec3.new(0, 2, 0))
+    local ray = omath.collision.Ray.new(omath.Vec3.new(0.5, 0.5, -1), omath.Vec3.new(0.5, 0.5, 1))
+    local hit = omath.collision.LineTracer.get_ray_hit_point(ray, tri)
+    assert(omath.collision.LineTracer.ray_hits_triangle(ray, tri))
+    assert(not omath.collision.LineTracer.can_trace_line(ray, tri))
+    assert(approx(hit.x, 0.5) and approx(hit.y, 0.5) and approx(hit.z, 0))
+end
+
+function Collision_LineTracer_triangle_miss()
+    local tri = omath.Triangle.new(omath.Vec3.new(0, 0, 0), omath.Vec3.new(1, 0, 0), omath.Vec3.new(0, 1, 0))
+    local ray = omath.collision.Ray.new(omath.Vec3.new(2, 2, -1), omath.Vec3.new(2, 2, 1))
+    local hit = omath.collision.LineTracer.get_ray_hit_point(ray, tri)
+    assert(not omath.collision.LineTracer.ray_hits_triangle(ray, tri))
+    assert(omath.collision.LineTracer.can_trace_line(ray, tri))
+    assert(hit == ray["end"])
+end
+
+function Collision_LineTracer_aabb_hit()
+    local aabb = omath.primitives.Aabb.new(omath.Vec3.new(-1, -1, -1), omath.Vec3.new(1, 1, 1))
+    local ray = omath.collision.Ray.new(omath.Vec3.new(0, 0, -3), omath.Vec3.new(0, 0, 3))
+    local hit = omath.collision.LineTracer.get_ray_hit_point(ray, aabb)
+    assert(omath.collision.LineTracer.ray_hits_aabb(ray, aabb))
+    assert(approx(hit.x, 0) and approx(hit.y, 0) and approx(hit.z, -1))
+end
+
+function Collision_LineTracer_aabb_miss()
+    local aabb = omath.primitives.Aabb.new(omath.Vec3.new(-1, -1, -1), omath.Vec3.new(1, 1, 1))
+    local ray = omath.collision.Ray.new(omath.Vec3.new(0, 3, -3), omath.Vec3.new(0, 3, 3))
+    local hit = omath.collision.LineTracer.get_ray_hit_point(ray, aabb)
+    assert(not omath.collision.LineTracer.ray_hits_aabb(ray, aabb))
+    assert(hit == ray["end"])
+end
+
+function Collision_LineTracer_obb_hit()
+    local obb = omath.primitives.Obb.new(
+        omath.Vec3.new(0, 0, 0),
+        omath.Vec3.new(1, 0, 0),
+        omath.Vec3.new(0, 1, 0),
+        omath.Vec3.new(0, 0, 1),
+        omath.Vec3.new(1, 1, 1)
+    )
+    local ray = omath.collision.Ray.new(omath.Vec3.new(0, 0, -3), omath.Vec3.new(0, 0, 3))
+    local hit = omath.collision.LineTracer.get_ray_hit_point(ray, obb)
+    assert(omath.collision.LineTracer.ray_hits_obb(ray, obb))
+    assert(approx(hit.z, -1))
+end
+
+function Collision_ConvexCollider_vertices_and_support()
+    local collider = omath.collision.ConvexCollider.new(cube_points(), omath.Vec3.new(2, 0, 0))
+    assert(collider:vertex_count() == 8)
+    assert(#collider:vertices() == 8)
+    local support = collider:find_abs_furthest_vertex_position(omath.Vec3.new(1, 0, 0))
+    assert(support.x == 3)
+end
+
+function Collision_Gjk_support_vertex()
+    local a = omath.collision.ConvexCollider.new(cube_points())
+    local b = omath.collision.ConvexCollider.new(cube_points())
+    local support = omath.collision.gjk_support_vertex(a, b, omath.Vec3.new(1, 0, 0))
+    assert(support.x == 2 and support.y == 0 and support.z == 0)
+end
+
+function Collision_Gjk_collide_true()
+    local a = omath.collision.ConvexCollider.new(cube_points())
+    local b = omath.collision.ConvexCollider.new(cube_points(), omath.Vec3.new(1, 0, 0))
+    assert(omath.collision.gjk_collide(a, b))
+end
+
+function Collision_Gjk_collide_false()
+    local a = omath.collision.ConvexCollider.new(cube_points())
+    local b = omath.collision.ConvexCollider.new(cube_points(), omath.Vec3.new(5, 0, 0))
+    assert(not omath.collision.gjk_collide(a, b))
+end
+
+function Collision_Epa_solve_hit()
+    local a = omath.collision.ConvexCollider.new(cube_points())
+    local b = omath.collision.ConvexCollider.new(cube_points(), omath.Vec3.new(1.5, 0, 0))
+    local result = omath.collision.epa_solve(a, b)
+    assert(result ~= nil)
+    assert(result.depth > 0)
+    assert(approx(result.normal:length(), 1))
+    assert(approx(result.penetration_vector:length(), result.depth))
+end
+
+function Collision_Epa_solve_miss()
+    local a = omath.collision.ConvexCollider.new(cube_points())
+    local b = omath.collision.ConvexCollider.new(cube_points(), omath.Vec3.new(5, 0, 0))
+    assert(omath.collision.epa_solve(a, b) == nil)
+end

tests/lua/hud_tests.lua

@@ -0,0 +1,248 @@
+local function approx(a, b, eps) return math.abs(a - b) < (eps or 1e-4) end
+
+local function color() return omath.Color.new(1, 0, 0, 1) end
+local function fill() return omath.Color.new(0, 0, 0, 0.5) end
+local function outline() return omath.Color.new(0, 0, 0, 1) end
+local function bg() return omath.Color.new(0.2, 0.2, 0.2, 1) end
+
+local function renderer_with(commands)
+    return omath.hud.Renderer.new({
+        add_line = function(a, b, c, thickness)
+            table.insert(commands, { kind = "line", a = a, b = b, color = c, thickness = thickness })
+        end,
+        add_polyline = function(points, c, thickness)
+            table.insert(commands, { kind = "polyline", points = points, color = c, thickness = thickness })
+        end,
+        add_filled_polyline = function(points, c)
+            table.insert(commands, { kind = "filled_polyline", points = points, color = c })
+        end,
+        add_rectangle = function(min, max, c)
+            table.insert(commands, { kind = "rectangle", min = min, max = max, color = c })
+        end,
+        add_filled_rectangle = function(min, max, c)
+            table.insert(commands, { kind = "filled_rectangle", min = min, max = max, color = c })
+        end,
+        add_circle = function(center, radius, c, thickness, segments)
+            table.insert(commands, {
+                kind = "circle",
+                center = center,
+                radius = radius,
+                color = c,
+                thickness = thickness,
+                segments = segments,
+            })
+        end,
+        add_filled_circle = function(center, radius, c, segments)
+            table.insert(commands, { kind = "filled_circle", center = center, radius = radius, color = c, segments = segments })
+        end,
+        add_arc = function(center, radius, a_min, a_max, c, thickness, segments)
+            table.insert(commands, {
+                kind = "arc",
+                center = center,
+                radius = radius,
+                a_min = a_min,
+                a_max = a_max,
+                color = c,
+                thickness = thickness,
+                segments = segments,
+            })
+        end,
+        add_image = function(texture, min, max, tint)
+            table.insert(commands, { kind = "image", texture = texture, min = min, max = max, tint = tint })
+        end,
+        add_text = function(pos, c, text)
+            table.insert(commands, { kind = "text", pos = pos, color = c, text = text })
+        end,
+        calc_text_size = function(text)
+            return omath.Vec2.new(#text * 6, 10)
+        end,
+    })
+end
+
+local function overlay(commands)
+    return omath.hud.EntityOverlay.new(omath.Vec2.new(100, 10), omath.Vec2.new(100, 50), renderer_with(commands))
+end
+
+function Hud_CanvasBox_default_ratio()
+    local box = omath.hud.CanvasBox.new(omath.Vec2.new(100, 10), omath.Vec2.new(100, 50))
+    assert(approx(box.top_left_corner.x, 90) and approx(box.top_left_corner.y, 10))
+    assert(approx(box.top_right_corner.x, 110) and approx(box.bottom_right_corner.y, 50))
+end
+
+function Hud_CanvasBox_custom_ratio()
+    local box = omath.hud.CanvasBox.new(omath.Vec2.new(100, 10), omath.Vec2.new(100, 50), 2)
+    assert(approx(box.top_left_corner.x, 80) and approx(box.bottom_right_corner.x, 120))
+end
+
+function Hud_CanvasBox_as_table()
+    local points = omath.hud.CanvasBox.new(omath.Vec2.new(100, 10), omath.Vec2.new(100, 50)):as_table()
+    assert(#points == 4)
+    assert(approx(points[1].x, 90) and approx(points[3].x, 110))
+end
+
+function Hud_Renderer_callbacks()
+    local commands = {}
+    local renderer = renderer_with(commands)
+    renderer:add_line(omath.Vec2.new(1, 2), omath.Vec2.new(3, 4), color(), 2)
+    renderer:add_text(omath.Vec2.new(5, 6), color(), "hp")
+    local size = renderer:calc_text_size("abcd")
+    assert(#commands == 2)
+    assert(commands[1].kind == "line" and commands[2].text == "hp")
+    assert(size.x == 24 and size.y == 10)
+end
+
+function Hud_Renderer_polyline_table()
+    local commands = {}
+    local renderer = renderer_with(commands)
+    renderer:add_polyline({ omath.Vec2.new(1, 1), omath.Vec2.new(2, 2) }, color(), 3)
+    assert(commands[1].kind == "polyline")
+    assert(#commands[1].points == 2 and commands[1].points[2].x == 2)
+end
+
+function Hud_Renderer_circle_defaults()
+    local commands = {}
+    local renderer = renderer_with(commands)
+    renderer:add_circle(omath.Vec2.new(1, 2), 5, color(), 2)
+    renderer:add_filled_circle(omath.Vec2.new(3, 4), 6, color())
+    assert(commands[1].kind == "circle" and commands[1].segments == 0)
+    assert(commands[2].kind == "filled_circle" and commands[2].segments == 0)
+end
+
+function Hud_EntityOverlay_add_2d_box()
+    local commands = {}
+    overlay(commands):add_2d_box(color(), fill(), outline(), 2)
+    assert(#commands == 3)
+    assert(commands[1].kind == "polyline" and approx(commands[1].thickness, 4))
+    assert(commands[2].kind == "polyline" and approx(commands[2].thickness, 2) and #commands[2].points == 4)
+    assert(commands[3].kind == "filled_polyline")
+end
+
+function Hud_EntityOverlay_add_cornered_2d_box()
+    local commands = {}
+    overlay(commands):add_cornered_2d_box(color(), fill(), outline(), 0.25, 2)
+    assert(#commands == 18)
+    assert(commands[1].kind == "polyline" and commands[2].kind == "filled_polyline")
+    assert(commands[3].kind == "line" and approx(commands[3].thickness, 4))
+    assert(commands[4].kind == "line" and approx(commands[4].thickness, 2))
+    assert(commands[18].kind == "line")
+end
+
+function Hud_EntityOverlay_add_dashed_box()
+    local commands = {}
+    overlay(commands):add_dashed_box(color(), 8, 5, 1)
+    assert(#commands > 4)
+    assert(commands[1].kind == "line")
+end
+
+function Hud_EntityOverlay_add_bar()
+    local commands = {}
+    overlay(commands):add_right_bar(color(), outline(), bg(), 4, 0.5)
+    assert(#commands == 3)
+    assert(commands[1].kind == "filled_rectangle" and commands[2].kind == "filled_rectangle")
+    assert(commands[3].kind == "rectangle")
+end
+
+function Hud_EntityOverlay_add_dashed_bar()
+    local commands = {}
+    overlay(commands):add_bottom_dashed_bar(color(), outline(), bg(), 4, 0.5, 8, 5)
+    assert(#commands >= 3)
+    assert(commands[1].kind == "filled_rectangle")
+end
+
+function Hud_EntityOverlay_add_label()
+    local commands = {}
+    overlay(commands):add_right_label(color(), 5, false, "HP")
+    assert(#commands == 1)
+    assert(commands[1].kind == "text" and commands[1].text == "HP")
+    assert(approx(commands[1].pos.x, 115))
+end
+
+function Hud_EntityOverlay_add_outlined_label()
+    local commands = {}
+    overlay(commands):add_left_label(color(), 5, true, "HP")
+    assert(#commands == 9)
+    assert(commands[9].kind == "text" and commands[9].text == "HP")
+end
+
+function Hud_EntityOverlay_add_centered_label()
+    local commands = {}
+    overlay(commands):add_centered_top_label(color(), 5, false, "HP")
+    assert(#commands == 1)
+    assert(commands[1].kind == "text")
+    assert(approx(commands[1].pos.x, 94))
+end
+
+function Hud_EntityOverlay_add_spaces()
+    local commands = {}
+    overlay(commands):add_right_space_vertical(10):add_right_label(color(), 5, false, "HP")
+    assert(#commands == 1)
+    assert(approx(commands[1].pos.y, 20))
+end
+
+function Hud_EntityOverlay_add_progress_ring()
+    local commands = {}
+    overlay(commands):add_right_progress_ring(color(), bg(), 6, 0.25, 2, 5, 16)
+    assert(#commands == 2)
+    assert(commands[1].kind == "circle" and commands[2].kind == "arc")
+    assert(commands[2].segments == 16)
+end
+
+function Hud_EntityOverlay_add_progress_ring_defaults()
+    local commands = {}
+    overlay(commands):add_right_progress_ring(color(), bg(), 6, 0.25)
+    assert(#commands == 2)
+    assert(commands[1].thickness == 2 and commands[1].segments == 0)
+end
+
+function Hud_EntityOverlay_add_icon()
+    local commands = {}
+    overlay(commands):add_right_icon("texture-id", 8, 6, color(), 5)
+    assert(#commands == 1)
+    assert(commands[1].kind == "image" and commands[1].texture == "texture-id")
+end
+
+function Hud_EntityOverlay_add_snap_line()
+    local commands = {}
+    overlay(commands):add_snap_line(omath.Vec2.new(0, 0), color(), 2)
+    assert(#commands == 1)
+    assert(commands[1].kind == "line")
+    assert(approx(commands[1].b.x, 100) and approx(commands[1].b.y, 50))
+end
+
+function Hud_EntityOverlay_add_skeleton()
+    local commands = {}
+    overlay(commands):add_skeleton(color())
+    assert(#commands == 15)
+    assert(commands[1].kind == "line")
+end
+
+function Hud_EntityOverlay_add_scan_marker()
+    local commands = {}
+    overlay(commands):add_scan_marker(color(), outline(), 2)
+    assert(#commands == 2)
+    assert(commands[1].kind == "filled_polyline" and #commands[1].points == 3)
+    assert(commands[2].kind == "polyline" and commands[2].thickness == 2)
+end
+
+function Hud_EntityOverlay_add_aim_dot()
+    local commands = {}
+    overlay(commands):add_aim_dot(omath.Vec2.new(5, 6), color())
+    assert(#commands == 1)
+    assert(commands[1].kind == "filled_circle" and commands[1].radius == 3)
+end
+
+function Hud_EntityOverlay_add_projectile_aim_circle()
+    local commands = {}
+    overlay(commands):add_projectile_aim(omath.Vec2.new(5, 6), color(), 4, 2, omath.hud.ProjectileAimFigure.CIRCLE)
+    assert(#commands == 2)
+    assert(commands[1].kind == "line")
+    assert(commands[2].kind == "filled_circle" and commands[2].radius == 4)
+end
+
+function Hud_EntityOverlay_add_projectile_aim_square_default()
+    local commands = {}
+    overlay(commands):add_projectile_aim(omath.Vec2.new(5, 6), color())
+    assert(#commands == 2)
+    assert(commands[1].kind == "line")
+    assert(commands[2].kind == "filled_rectangle")
+end

tests/lua/mat_tests.lua

@@ -0,0 +1,195 @@
+local function approx(a, b, eps) return math.abs(a - b) < (eps or 1e-5) end
+
+function Mat4_Constructor_default()
+    local m = omath.Mat4.new()
+    assert(m:row_count() == 4 and m:columns_count() == 4)
+    assert(m:at(0, 0) == 0 and m:at(3, 3) == 0)
+end
+
+function Mat4_FromRows()
+    local m = omath.Mat4.from_rows({
+        {1, 2, 3, 4},
+        {5, 6, 7, 8},
+        {9, 10, 11, 12},
+        {13, 14, 15, 16},
+    })
+    assert(m:at(0, 0) == 1 and m:at(3, 3) == 16)
+end
+
+function Mat4_SetAt()
+    local m = omath.Mat4.new()
+    m:set_at(2, 3, 42)
+    assert(m:at(2, 3) == 42)
+end
+
+function Mat4_SetAndClear()
+    local m = omath.Mat4.new()
+    m:set(2)
+    assert(m:sum() == 32)
+    m:clear()
+    assert(m:sum() == 0)
+end
+
+function Mat4_Multiplication_matrix()
+    local identity = omath.Mat4.from_rows({
+        {1, 0, 0, 0},
+        {0, 1, 0, 0},
+        {0, 0, 1, 0},
+        {0, 0, 0, 1},
+    })
+    local m = omath.Mat4.from_rows({
+        {1, 2, 3, 4},
+        {5, 6, 7, 8},
+        {9, 10, 11, 12},
+        {13, 14, 15, 16},
+    })
+    local result = m * identity
+    assert(result == m)
+end
+
+function Mat4_Multiplication_scalar()
+    local m = omath.Mat4.from_rows({
+        {1, 0, 0, 0},
+        {0, 1, 0, 0},
+        {0, 0, 1, 0},
+        {0, 0, 0, 1},
+    }) * 2
+    assert(m:at(0, 0) == 2 and m:at(3, 3) == 2)
+end
+
+function Mat4_Multiplication_scalar_reversed()
+    local m = 2 * omath.Mat4.from_rows({
+        {1, 0, 0, 0},
+        {0, 1, 0, 0},
+        {0, 0, 1, 0},
+        {0, 0, 0, 1},
+    })
+    assert(m:at(0, 0) == 2 and m:at(3, 3) == 2)
+end
+
+function Mat4_Division_scalar()
+    local m = omath.Mat4.from_rows({
+        {2, 0, 0, 0},
+        {0, 2, 0, 0},
+        {0, 0, 2, 0},
+        {0, 0, 0, 2},
+    }) / 2
+    assert(m:at(0, 0) == 1 and m:at(3, 3) == 1)
+end
+
+function Mat4_Transposed()
+    local m = omath.Mat4.from_rows({
+        {1, 2, 0, 0},
+        {3, 4, 0, 0},
+        {0, 0, 1, 0},
+        {0, 0, 0, 1},
+    }):transposed()
+    assert(m:at(0, 1) == 3 and m:at(1, 0) == 2)
+end
+
+function Mat4_Determinant()
+    local m = omath.Mat4.from_rows({
+        {1, 0, 0, 0},
+        {0, 2, 0, 0},
+        {0, 0, 3, 0},
+        {0, 0, 0, 4},
+    })
+    assert(m:determinant() == 24)
+end
+
+function Mat4_Inverted_success()
+    local m = omath.Mat4.from_rows({
+        {2, 0, 0, 0},
+        {0, 2, 0, 0},
+        {0, 0, 2, 0},
+        {0, 0, 0, 2},
+    })
+    local inv = m:inverted()
+    assert(inv ~= nil)
+    assert(approx(inv:at(0, 0), 0.5) and approx(inv:at(3, 3), 0.5))
+end
+
+function Mat4_Inverted_singular()
+    local m = omath.Mat4.new()
+    assert(m:inverted() == nil)
+end
+
+function Mat4_ToScreenMat()
+    local m = omath.Mat4.to_screen_mat(800, 600)
+    assert(m:at(0, 0) == 400 and m:at(1, 1) == -300 and m:at(3, 1) == 300)
+end
+
+function Mat4_Translation()
+    local m = omath.Mat4.translation(omath.Vec3.new(1, 2, 3))
+    assert(m:at(0, 3) == 1 and m:at(1, 3) == 2 and m:at(2, 3) == 3)
+end
+
+function Mat4_Scale()
+    local m = omath.Mat4.scale(omath.Vec3.new(2, 3, 4))
+    assert(m:at(0, 0) == 2 and m:at(1, 1) == 3 and m:at(2, 2) == 4)
+end
+
+function Mat4_Perspective()
+    local m = omath.Mat4.perspective_left_handed_vertical_fov(90, 16 / 9, 0.1, 1000)
+    assert(m:at(0, 0) > 0 and m:at(1, 1) > 0)
+end
+
+function Mat4_AsTable()
+    local m = omath.Mat4.from_rows({
+        {1, 2, 3, 4},
+        {5, 6, 7, 8},
+        {9, 10, 11, 12},
+        {13, 14, 15, 16},
+    })
+    local t = m:as_table()
+    assert(t[1][1] == 1 and t[4][4] == 16)
+end
+
+function Mat4_ToString()
+    local m = omath.Mat4.from_rows({
+        {1, 2, 0, 0},
+        {0, 1, 0, 0},
+        {0, 0, 1, 0},
+        {0, 0, 0, 1},
+    })
+    assert(string.find(tostring(m), "%[%[") ~= nil)
+end
+
+function Mat3_FromRows()
+    local m = omath.Mat3.from_rows({
+        {1, 2, 3},
+        {0, 1, 4},
+        {5, 6, 0},
+    })
+    assert(m:determinant() == 1)
+end
+
+function Mat4ColumnMajor_FromRows()
+    local m = omath.Mat4ColumnMajor.from_rows({
+        {1, 2, 3, 4},
+        {5, 6, 7, 8},
+        {9, 10, 11, 12},
+        {13, 14, 15, 16},
+    })
+    assert(m:at(0, 1) == 2 and m:at(3, 2) == 15)
+end
+
+function Mat4ColumnMajor_ToScreenMat()
+    local m = omath.Mat4ColumnMajor.to_screen_mat(800, 600)
+    assert(m:at(0, 0) == 400 and m:at(1, 1) == -300 and m:at(3, 1) == 300)
+end
+
+function Mat4ColumnMajor_Translation()
+    local m = omath.Mat4ColumnMajor.translation(omath.Vec3.new(1, 2, 3))
+    assert(m:at(0, 3) == 1 and m:at(1, 3) == 2 and m:at(2, 3) == 3)
+end
+
+function Mat4d_FromRows()
+    local m = omath.Mat4d.from_rows({
+        {1, 0, 0, 0},
+        {0, 2, 0, 0},
+        {0, 0, 3, 0},
+        {0, 0, 0, 4},
+    })
+    assert(m:determinant() == 24)
+end

tests/lua/quaternion_tests.lua

@@ -0,0 +1,111 @@
+local function approx(a, b, eps) return math.abs(a - b) < (eps or 1e-5) end
+
+function Quaternion_Constructor_default()
+    local q = omath.Quaternion.new()
+    assert(q.x == 0 and q.y == 0 and q.z == 0 and q.w == 1)
+end
+
+function Quaternion_Constructor_xyzw()
+    local q = omath.Quaternion.new(1, 2, 3, 4)
+    assert(q.x == 1 and q.y == 2 and q.z == 3 and q.w == 4)
+end
+
+function Quaternion_Field_mutation()
+    local q = omath.Quaternion.new()
+    q.x = 1; q.y = 2; q.z = 3; q.w = 4
+    assert(q.x == 1 and q.y == 2 and q.z == 3 and q.w == 4)
+end
+
+function Quaternion_FromAxisAngle_zero_angle()
+    local q = omath.Quaternion.from_axis_angle(omath.Vec3.new(0, 0, 1), 0)
+    assert(approx(q.x, 0) and approx(q.y, 0) and approx(q.z, 0) and approx(q.w, 1))
+end
+
+function Quaternion_Addition()
+    local q = omath.Quaternion.new(1, 2, 3, 4) + omath.Quaternion.new(4, 3, 2, 1)
+    assert(q.x == 5 and q.y == 5 and q.z == 5 and q.w == 5)
+end
+
+function Quaternion_Multiplication_scalar()
+    local q = omath.Quaternion.new(1, 2, 3, 4) * 2
+    assert(q.x == 2 and q.y == 4 and q.z == 6 and q.w == 8)
+end
+
+function Quaternion_Multiplication_scalar_reversed()
+    local q = 2 * omath.Quaternion.new(1, 2, 3, 4)
+    assert(q.x == 2 and q.y == 4 and q.z == 6 and q.w == 8)
+end
+
+function Quaternion_Multiplication_quaternion()
+    local i = omath.Quaternion.new(1, 0, 0, 0)
+    local j = omath.Quaternion.new(0, 1, 0, 0)
+    local k = i * j
+    assert(k.x == 0 and k.y == 0 and k.z == 1 and k.w == 0)
+end
+
+function Quaternion_UnaryMinus()
+    local q = -omath.Quaternion.new(1, -2, 3, -4)
+    assert(q.x == -1 and q.y == 2 and q.z == -3 and q.w == 4)
+end
+
+function Quaternion_EqualTo_true()
+    assert(omath.Quaternion.new(1, 2, 3, 4) == omath.Quaternion.new(1, 2, 3, 4))
+end
+
+function Quaternion_EqualTo_false()
+    assert(not (omath.Quaternion.new(1, 2, 3, 4) == omath.Quaternion.new(1, 2, 3, 5)))
+end
+
+function Quaternion_ToString()
+    assert(tostring(omath.Quaternion.new(1, 2, 3, 4)) == "Quaternion(1, 2, 3, 4)")
+end
+
+function Quaternion_Conjugate()
+    local q = omath.Quaternion.new(1, 2, 3, 4):conjugate()
+    assert(q.x == -1 and q.y == -2 and q.z == -3 and q.w == 4)
+end
+
+function Quaternion_Dot()
+    assert(omath.Quaternion.new(1, 0, 0, 0):dot(omath.Quaternion.new(0, 1, 0, 0)) == 0)
+end
+
+function Quaternion_Length()
+    assert(approx(omath.Quaternion.new(1, 1, 1, 1):length(), 2))
+end
+
+function Quaternion_LengthSqr()
+    assert(omath.Quaternion.new(1, 2, 3, 4):length_sqr() == 30)
+end
+
+function Quaternion_Normalized()
+    local q = omath.Quaternion.new(1, 1, 1, 1):normalized()
+    assert(approx(q:length(), 1))
+    assert(approx(q.x, 0.5) and approx(q.y, 0.5) and approx(q.z, 0.5) and approx(q.w, 0.5))
+end
+
+function Quaternion_Inverse()
+    local q = omath.Quaternion.from_axis_angle(omath.Vec3.new(0, 0, 1), math.pi / 3)
+    local identity = q * q:inverse()
+    assert(approx(identity.x, 0) and approx(identity.y, 0) and approx(identity.z, 0) and approx(identity.w, 1))
+end
+
+function Quaternion_Rotate()
+    local q = omath.Quaternion.from_axis_angle(omath.Vec3.new(0, 0, 1), math.pi / 2)
+    local v = q:rotate(omath.Vec3.new(1, 0, 0))
+    assert(approx(v.x, 0, 1e-4) and approx(v.y, 1, 1e-4) and approx(v.z, 0, 1e-4))
+end
+
+function Quaternion_ToRotationMatrix3()
+    local m = omath.Quaternion.new():to_rotation_matrix3()
+    assert(m:at(0, 0) == 1 and m:at(1, 1) == 1 and m:at(2, 2) == 1)
+end
+
+function Quaternion_ToRotationMatrix4()
+    local m = omath.Quaternion.new():to_rotation_matrix4()
+    assert(m:at(0, 0) == 1 and m:at(1, 1) == 1 and m:at(2, 2) == 1 and m:at(3, 3) == 1)
+end
+
+function Quaternion_AsTable()
+    local t = omath.Quaternion.new(1, 2, 3, 4):as_table()
+    assert(t.x == 1 and t.y == 2 and t.z == 3 and t.w == 4)
+end

tests/lua/source_engine_tests.lua

@@ -175,6 +175,46 @@ function Source_Camera_get_up()
     assert(approx(make_camera():get_up():length(), 1.0))
 end
 
+function Source_Camera_get_view_matrix()
+    local view = make_camera():get_view_matrix()
+    assert(view ~= nil)
+    assert(view:row_count() == 4 and view:columns_count() == 4)
+end
+
+function Source_Camera_get_projection_matrix()
+    local projection = make_camera():get_projection_matrix()
+    assert(projection ~= nil)
+    assert(projection:at(0, 0) > 0 and projection:at(1, 1) > 0)
+end
+
+function Source_Camera_get_view_projection_matrix()
+    local view_projection = make_camera():get_view_projection_matrix()
+    assert(view_projection ~= nil)
+    assert(view_projection:row_count() == 4 and view_projection:columns_count() == 4)
+end
+
+function Source_Camera_extract_projection_params()
+    local projection = make_camera():get_projection_matrix()
+    local fov, aspect_ratio = omath.source.Camera.extract_projection_params(projection)
+    assert(fov ~= nil)
+    assert(approx(aspect_ratio, 1920 / 1080))
+end
+
+function Source_Camera_calc_view_angles_from_view_matrix()
+    local cam = make_camera()
+    local view = cam:get_view_matrix()
+    local angles = omath.source.Camera.calc_view_angles_from_view_matrix(view)
+    assert(approx(angles.pitch:as_degrees(), 0))
+    assert(approx(angles.yaw:as_degrees(), 0))
+end
+
+function Source_Camera_calc_origin_from_view_matrix()
+    local cam = make_camera()
+    cam:set_origin(omath.Vec3.new(1, 2, 3))
+    local origin = omath.source.Camera.calc_origin_from_view_matrix(cam:get_view_matrix())
+    assert(approx(origin.x, 1) and approx(origin.y, 2) and approx(origin.z, 3))
+end
+
 function Source_Camera_world_to_screen_success()
     local cam = make_camera()
     cam:look_at(omath.Vec3.new(1, 0, 0))

tests/lua/unit_test_lua_collision.cpp

@@ -0,0 +1,53 @@
+//
+// Created by orange on 07.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+
+class LuaCollision : public ::testing::Test
+{
+protected:
+    lua_State* L = nullptr;
+
+    void SetUp() override
+    {
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/collision_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override { lua_close(L); }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaCollision, Aabb_constructor_and_fields)      { check("Collision_Aabb_constructor_and_fields"); }
+TEST_F(LuaCollision, Aabb_center_extents)              { check("Collision_Aabb_center_extents"); }
+TEST_F(LuaCollision, Aabb_top_bottom_default_axis)     { check("Collision_Aabb_top_bottom_default_axis"); }
+TEST_F(LuaCollision, Aabb_top_bottom_explicit_axis)    { check("Collision_Aabb_top_bottom_explicit_axis"); }
+TEST_F(LuaCollision, Aabb_is_collide)                  { check("Collision_Aabb_is_collide"); }
+TEST_F(LuaCollision, Aabb_as_table)                    { check("Collision_Aabb_as_table"); }
+TEST_F(LuaCollision, Obb_constructor_and_vertices)     { check("Collision_Obb_constructor_and_vertices"); }
+TEST_F(LuaCollision, Ray_constructor_and_direction)    { check("Collision_Ray_constructor_and_direction"); }
+TEST_F(LuaCollision, LineTracer_triangle_hit)          { check("Collision_LineTracer_triangle_hit"); }
+TEST_F(LuaCollision, LineTracer_triangle_miss)         { check("Collision_LineTracer_triangle_miss"); }
+TEST_F(LuaCollision, LineTracer_aabb_hit)              { check("Collision_LineTracer_aabb_hit"); }
+TEST_F(LuaCollision, LineTracer_aabb_miss)             { check("Collision_LineTracer_aabb_miss"); }
+TEST_F(LuaCollision, LineTracer_obb_hit)               { check("Collision_LineTracer_obb_hit"); }
+TEST_F(LuaCollision, ConvexCollider_vertices_support)  { check("Collision_ConvexCollider_vertices_and_support"); }
+TEST_F(LuaCollision, Gjk_support_vertex)               { check("Collision_Gjk_support_vertex"); }
+TEST_F(LuaCollision, Gjk_collide_true)                 { check("Collision_Gjk_collide_true"); }
+TEST_F(LuaCollision, Gjk_collide_false)                { check("Collision_Gjk_collide_false"); }
+TEST_F(LuaCollision, Epa_solve_hit)                    { check("Collision_Epa_solve_hit"); }
+TEST_F(LuaCollision, Epa_solve_miss)                   { check("Collision_Epa_solve_miss"); }

tests/lua/unit_test_lua_hud.cpp

@@ -0,0 +1,58 @@
+//
+// Created by orange on 07.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+
+class LuaHud : public ::testing::Test
+{
+protected:
+    lua_State* L = nullptr;
+
+    void SetUp() override
+    {
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/hud_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override { lua_close(L); }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaHud, CanvasBox_default_ratio)          { check("Hud_CanvasBox_default_ratio"); }
+TEST_F(LuaHud, CanvasBox_custom_ratio)           { check("Hud_CanvasBox_custom_ratio"); }
+TEST_F(LuaHud, CanvasBox_as_table)               { check("Hud_CanvasBox_as_table"); }
+TEST_F(LuaHud, Renderer_callbacks)               { check("Hud_Renderer_callbacks"); }
+TEST_F(LuaHud, Renderer_polyline_table)          { check("Hud_Renderer_polyline_table"); }
+TEST_F(LuaHud, Renderer_circle_defaults)         { check("Hud_Renderer_circle_defaults"); }
+TEST_F(LuaHud, EntityOverlay_add_2d_box)         { check("Hud_EntityOverlay_add_2d_box"); }
+TEST_F(LuaHud, EntityOverlay_add_cornered_2d_box) { check("Hud_EntityOverlay_add_cornered_2d_box"); }
+TEST_F(LuaHud, EntityOverlay_add_dashed_box)     { check("Hud_EntityOverlay_add_dashed_box"); }
+TEST_F(LuaHud, EntityOverlay_add_bar)            { check("Hud_EntityOverlay_add_bar"); }
+TEST_F(LuaHud, EntityOverlay_add_dashed_bar)     { check("Hud_EntityOverlay_add_dashed_bar"); }
+TEST_F(LuaHud, EntityOverlay_add_label)          { check("Hud_EntityOverlay_add_label"); }
+TEST_F(LuaHud, EntityOverlay_add_outlined_label) { check("Hud_EntityOverlay_add_outlined_label"); }
+TEST_F(LuaHud, EntityOverlay_add_centered_label) { check("Hud_EntityOverlay_add_centered_label"); }
+TEST_F(LuaHud, EntityOverlay_add_spaces)         { check("Hud_EntityOverlay_add_spaces"); }
+TEST_F(LuaHud, EntityOverlay_add_progress_ring)  { check("Hud_EntityOverlay_add_progress_ring"); }
+TEST_F(LuaHud, EntityOverlay_add_progress_ring_defaults) { check("Hud_EntityOverlay_add_progress_ring_defaults"); }
+TEST_F(LuaHud, EntityOverlay_add_icon)           { check("Hud_EntityOverlay_add_icon"); }
+TEST_F(LuaHud, EntityOverlay_add_snap_line)      { check("Hud_EntityOverlay_add_snap_line"); }
+TEST_F(LuaHud, EntityOverlay_add_skeleton)       { check("Hud_EntityOverlay_add_skeleton"); }
+TEST_F(LuaHud, EntityOverlay_add_scan_marker)    { check("Hud_EntityOverlay_add_scan_marker"); }
+TEST_F(LuaHud, EntityOverlay_add_aim_dot)        { check("Hud_EntityOverlay_add_aim_dot"); }
+TEST_F(LuaHud, EntityOverlay_add_projectile_aim_circle) { check("Hud_EntityOverlay_add_projectile_aim_circle"); }
+TEST_F(LuaHud, EntityOverlay_add_projectile_aim_square_default) { check("Hud_EntityOverlay_add_projectile_aim_square_default"); }

tests/lua/unit_test_lua_mat.cpp

@@ -0,0 +1,129 @@
+//
+// Created by orange on 07.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+
+class LuaMat : public ::testing::Test
+{
+protected:
+    lua_State* L = nullptr;
+
+    void SetUp() override
+    {
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/mat_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override
+    {
+        lua_close(L);
+    }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaMat, Constructor_default)
+{
+    check("Mat4_Constructor_default");
+}
+TEST_F(LuaMat, FromRows)
+{
+    check("Mat4_FromRows");
+}
+TEST_F(LuaMat, SetAt)
+{
+    check("Mat4_SetAt");
+}
+TEST_F(LuaMat, SetAndClear)
+{
+    check("Mat4_SetAndClear");
+}
+TEST_F(LuaMat, Multiplication_matrix)
+{
+    check("Mat4_Multiplication_matrix");
+}
+TEST_F(LuaMat, Multiplication_scalar)
+{
+    check("Mat4_Multiplication_scalar");
+}
+TEST_F(LuaMat, Multiplication_scalar_reversed)
+{
+    check("Mat4_Multiplication_scalar_reversed");
+}
+TEST_F(LuaMat, Division_scalar)
+{
+    check("Mat4_Division_scalar");
+}
+TEST_F(LuaMat, Transposed)
+{
+    check("Mat4_Transposed");
+}
+TEST_F(LuaMat, Determinant)
+{
+    check("Mat4_Determinant");
+}
+TEST_F(LuaMat, Inverted_success)
+{
+    check("Mat4_Inverted_success");
+}
+TEST_F(LuaMat, Inverted_singular)
+{
+    check("Mat4_Inverted_singular");
+}
+TEST_F(LuaMat, ToScreenMat)
+{
+    check("Mat4_ToScreenMat");
+}
+TEST_F(LuaMat, Translation)
+{
+    check("Mat4_Translation");
+}
+TEST_F(LuaMat, Scale)
+{
+    check("Mat4_Scale");
+}
+TEST_F(LuaMat, Perspective)
+{
+    check("Mat4_Perspective");
+}
+TEST_F(LuaMat, AsTable)
+{
+    check("Mat4_AsTable");
+}
+TEST_F(LuaMat, ToString)
+{
+    check("Mat4_ToString");
+}
+TEST_F(LuaMat, Mat3_FromRows)
+{
+    check("Mat3_FromRows");
+}
+TEST_F(LuaMat, Mat4ColumnMajor_FromRows)
+{
+    check("Mat4ColumnMajor_FromRows");
+}
+TEST_F(LuaMat, Mat4ColumnMajor_ToScreenMat)
+{
+    check("Mat4ColumnMajor_ToScreenMat");
+}
+TEST_F(LuaMat, Mat4ColumnMajor_Translation)
+{
+    check("Mat4ColumnMajor_Translation");
+}
+TEST_F(LuaMat, Mat4d_FromRows)
+{
+    check("Mat4d_FromRows");
+}

tests/lua/unit_test_lua_quaternion.cpp

@@ -0,0 +1,125 @@
+//
+// Created by orange on 07.03.2026.
+//
+#include <gtest/gtest.h>
+#include <lua.hpp>
+#include <omath/lua/lua.hpp>
+
+class LuaQuaternion : public ::testing::Test
+{
+protected:
+    lua_State* L = nullptr;
+
+    void SetUp() override
+    {
+        L = luaL_newstate();
+        luaL_openlibs(L);
+        omath::lua::LuaInterpreter::register_lib(L);
+        if (luaL_dofile(L, LUA_SCRIPTS_DIR "/quaternion_tests.lua") != LUA_OK)
+            FAIL() << lua_tostring(L, -1);
+    }
+
+    void TearDown() override
+    {
+        lua_close(L);
+    }
+
+    void check(const char* func_name)
+    {
+        lua_getglobal(L, func_name);
+        if (lua_pcall(L, 0, 0, 0) != LUA_OK)
+        {
+            FAIL() << lua_tostring(L, -1);
+            lua_pop(L, 1);
+        }
+    }
+};
+
+TEST_F(LuaQuaternion, Constructor_default)
+{
+    check("Quaternion_Constructor_default");
+}
+TEST_F(LuaQuaternion, Constructor_xyzw)
+{
+    check("Quaternion_Constructor_xyzw");
+}
+TEST_F(LuaQuaternion, Field_mutation)
+{
+    check("Quaternion_Field_mutation");
+}
+TEST_F(LuaQuaternion, FromAxisAngle_zero_angle)
+{
+    check("Quaternion_FromAxisAngle_zero_angle");
+}
+TEST_F(LuaQuaternion, Addition)
+{
+    check("Quaternion_Addition");
+}
+TEST_F(LuaQuaternion, Multiplication_scalar)
+{
+    check("Quaternion_Multiplication_scalar");
+}
+TEST_F(LuaQuaternion, Multiplication_scalar_reversed)
+{
+    check("Quaternion_Multiplication_scalar_reversed");
+}
+TEST_F(LuaQuaternion, Multiplication_quaternion)
+{
+    check("Quaternion_Multiplication_quaternion");
+}
+TEST_F(LuaQuaternion, UnaryMinus)
+{
+    check("Quaternion_UnaryMinus");
+}
+TEST_F(LuaQuaternion, EqualTo_true)
+{
+    check("Quaternion_EqualTo_true");
+}
+TEST_F(LuaQuaternion, EqualTo_false)
+{
+    check("Quaternion_EqualTo_false");
+}
+TEST_F(LuaQuaternion, ToString)
+{
+    check("Quaternion_ToString");
+}
+TEST_F(LuaQuaternion, Conjugate)
+{
+    check("Quaternion_Conjugate");
+}
+TEST_F(LuaQuaternion, Dot)
+{
+    check("Quaternion_Dot");
+}
+TEST_F(LuaQuaternion, Length)
+{
+    check("Quaternion_Length");
+}
+TEST_F(LuaQuaternion, LengthSqr)
+{
+    check("Quaternion_LengthSqr");
+}
+TEST_F(LuaQuaternion, Normalized)
+{
+    check("Quaternion_Normalized");
+}
+TEST_F(LuaQuaternion, Inverse)
+{
+    check("Quaternion_Inverse");
+}
+TEST_F(LuaQuaternion, Rotate)
+{
+    check("Quaternion_Rotate");
+}
+TEST_F(LuaQuaternion, ToRotationMatrix3)
+{
+    check("Quaternion_ToRotationMatrix3");
+}
+TEST_F(LuaQuaternion, ToRotationMatrix4)
+{
+    check("Quaternion_ToRotationMatrix4");
+}
+TEST_F(LuaQuaternion, AsTable)
+{
+    check("Quaternion_AsTable");
+}

tests/lua/unit_test_lua_source_engine.cpp

@@ -74,6 +74,12 @@ TEST_F(LuaSourceEngine, Camera_look_at)                 { check("Source_Camera_l
 TEST_F(LuaSourceEngine, Camera_get_forward)             { check("Source_Camera_get_forward"); }
 TEST_F(LuaSourceEngine, Camera_get_right)               { check("Source_Camera_get_right"); }
 TEST_F(LuaSourceEngine, Camera_get_up)                  { check("Source_Camera_get_up"); }
+TEST_F(LuaSourceEngine, Camera_get_view_matrix)         { check("Source_Camera_get_view_matrix"); }
+TEST_F(LuaSourceEngine, Camera_get_projection_matrix)   { check("Source_Camera_get_projection_matrix"); }
+TEST_F(LuaSourceEngine, Camera_get_view_projection_matrix) { check("Source_Camera_get_view_projection_matrix"); }
+TEST_F(LuaSourceEngine, Camera_extract_projection_params) { check("Source_Camera_extract_projection_params"); }
+TEST_F(LuaSourceEngine, Camera_calc_view_angles_from_view_matrix) { check("Source_Camera_calc_view_angles_from_view_matrix"); }
+TEST_F(LuaSourceEngine, Camera_calc_origin_from_view_matrix) { check("Source_Camera_calc_origin_from_view_matrix"); }
 TEST_F(LuaSourceEngine, Camera_world_to_screen_success) { check("Source_Camera_world_to_screen_success"); }
 TEST_F(LuaSourceEngine, Camera_world_to_screen_error)   { check("Source_Camera_world_to_screen_error"); }
 TEST_F(LuaSourceEngine, Camera_screen_to_world)         { check("Source_Camera_screen_to_world"); }