added check method

CMakePresets.json

@@ -38,15 +38,15 @@
     },
     {
       "name": "windows-debug-vcpkg",
-      "displayName": "Debug",
+      "displayName": "Windows Debug Vcpkg",
       "inherits": "windows-base-vcpkg",
       "cacheVariables": {
         "CMAKE_BUILD_TYPE": "Debug"
       }
     },
     {
       "name": "windows-release-vcpkg",
-      "displayName": "Release",
+      "displayName": "Windows Release Vcpkg",
       "inherits": "windows-base-vcpkg",
       "cacheVariables": {
         "CMAKE_BUILD_TYPE": "Release",
@@ -157,7 +157,7 @@
     },
     {
       "name": "darwin-debug-vcpkg",
-      "displayName": "Darwin Debug",
+      "displayName": "Darwin Debug Vcpkg",
       "inherits": "darwin-base-vcpkg",
       "cacheVariables": {
         "CMAKE_BUILD_TYPE": "Debug"
@@ -173,7 +173,7 @@
     },
     {
       "name": "darwin-release-vcpkg",
-      "displayName": "Darwin Release",
+      "displayName": "Darwin Release Vcpkg",
       "inherits": "darwin-base-vcpkg",
       "cacheVariables": {
         "CMAKE_BUILD_TYPE": "Release"

include/omath/3d_primitives/mesh.hpp

@@ -38,7 +38,7 @@ namespace omath::primitives
 
     public:
         Vbo m_vertex_buffer;
-        Ebo m_vertex_array_object;
+        Ebo m_element_buffer_object;
 
         Mesh(Vbo vbo, Ebo vao,
              const VectorType scale =
@@ -47,7 +47,7 @@ namespace omath::primitives
                              1,
                              1,
                      })
-            : m_vertex_buffer(std::move(vbo)), m_vertex_array_object(std::move(vao)), m_scale(std::move(scale))
+            : m_vertex_buffer(std::move(vbo)), m_element_buffer_object(std::move(vao)), m_scale(std::move(scale))
         {
         }
         void set_origin(const VectorType& new_origin)

include/omath/collision/collider_interface.hpp

@@ -2,7 +2,7 @@
 // Created by Vladislav on 06.12.2025.
 //
 #pragma once
-
+#include <omath/linear_algebra/vector3.hpp>
 
 namespace omath::collision
 {

include/omath/collision/epa_algorithm.hpp

@@ -1,6 +1,6 @@
 #pragma once
 #include "simplex.hpp"
-#include <algorithm> // find_if
+#include <algorithm>
 #include <array>
 #include <cmath>
 #include <cstdint>
@@ -19,7 +19,7 @@ namespace omath::collision
         { a.cross(b) } -> std::same_as<V>;
         { a.dot(b) } -> std::same_as<float>;
         { -a } -> std::same_as<V>;
-        { a* s } -> std::same_as<V>;
+        { a * s } -> std::same_as<V>;
         { a / s } -> std::same_as<V>;
     };
 
@@ -45,29 +45,19 @@ namespace omath::collision
             int max_iterations{64};
             float tolerance{1e-4f}; // absolute tolerance on distance growth
         };
-
         // Precondition: simplex.size()==4 and contains the origin.
         [[nodiscard]]
         static std::optional<Result> solve(const ColliderInterfaceType& a, const ColliderInterfaceType& b,
                                            const Simplex<VectorType>& simplex, const Params params = {},
-                                           std::shared_ptr<std::pmr::memory_resource> mem_resource = {
-                                                   std::shared_ptr<void>{}, std::pmr::get_default_resource()})
+                                           std::pmr::memory_resource& mem_resource = *std::pmr::get_default_resource())
         {
             // --- Build initial polytope from simplex (4 points) ---
-            std::pmr::vector<VectorType> vertexes{mem_resource.get()};
-            vertexes.reserve(simplex.size());
-            for (std::size_t i = 0; i < simplex.size(); ++i)
-                vertexes.emplace_back(simplex[i]);
+            std::pmr::vector<VectorType> vertexes = build_initial_polytope_from_simplex(simplex, mem_resource);
 
             // Initial tetra faces (windings corrected in make_face)
-            std::pmr::vector<Face> faces{mem_resource.get()};
-            faces.reserve(4);
-            faces.emplace_back(make_face(vertexes, 0, 1, 2));
-            faces.emplace_back(make_face(vertexes, 0, 2, 3));
-            faces.emplace_back(make_face(vertexes, 0, 3, 1));
-            faces.emplace_back(make_face(vertexes, 1, 3, 2));
+            std::pmr::vector<Face> faces = create_initial_tetra_faces(mem_resource, vertexes);
 
-            auto heap = rebuild_heap(faces);
+            auto heap = rebuild_heap(faces, mem_resource);
 
             Result out{};
 
@@ -80,7 +70,7 @@ namespace omath::collision
                 // (We could keep face handles; this is fine for small Ns.)
 
                 if (const auto top = heap.top(); faces[top.idx].d != top.d)
-                    heap = rebuild_heap(faces);
+                    heap = rebuild_heap(faces, mem_resource);
 
                 if (heap.empty())
                     break;
@@ -109,62 +99,35 @@ namespace omath::collision
                 const int new_idx = static_cast<int>(vertexes.size());
                 vertexes.emplace_back(p);
 
-                // Mark faces visible from p and collect their horizon
-                std::pmr::vector<bool> to_delete(faces.size(), false, mem_resource.get()); // uses single bits
-                std::pmr::vector<Edge> boundary{mem_resource.get()};
-                boundary.reserve(faces.size() * 2);
-
-                for (int i = 0; i < static_cast<int>(faces.size()); ++i)
-                {
-                    if (to_delete[i])
-                        continue;
-                    if (visible_from(faces[i], p))
-                    {
-                        const auto& rf = faces[i];
-                        to_delete[i] = true;
-                        add_edge_boundary(boundary, rf.i0, rf.i1);
-                        add_edge_boundary(boundary, rf.i1, rf.i2);
-                        add_edge_boundary(boundary, rf.i2, rf.i0);
-                    }
-                }
+                const auto [to_delete, boundary] = mark_visible_and_collect_horizon(faces, p);
 
-                // Remove visible faces
-                std::pmr::vector<Face> new_faces{mem_resource.get()};
-                new_faces.reserve(faces.size() + boundary.size());
-                for (int i = 0; i < static_cast<int>(faces.size()); ++i)
-                    if (!to_delete[i])
-                        new_faces.emplace_back(faces[i]);
-                faces.swap(new_faces);
+                erase_marked(faces, to_delete);
 
                 // Stitch new faces around the horizon
                 for (const auto& e : boundary)
                     faces.emplace_back(make_face(vertexes, e.a, e.b, new_idx));
 
                 // Rebuild heap after topology change
-                heap = rebuild_heap(faces);
+                heap = rebuild_heap(faces, mem_resource);
 
                 if (!std::isfinite(vertexes.back().dot(vertexes.back())))
                     break; // safety
                 out.iterations = it + 1;
             }
 
-            // Fallback: pick closest face as best-effort answer
-            if (!faces.empty())
-            {
-                auto best = faces[0];
-                for (const auto& f : faces)
-                    if (f.d < best.d)
-                        best = f;
-                out.normal = best.n;
-                out.depth = best.d;
-                out.num_vertices = static_cast<int>(vertexes.size());
-                out.num_faces = static_cast<int>(faces.size());
-
-                out.penetration_vector = out.normal * out.depth;
-
-                return out;
-            }
-            return std::nullopt;
+            if (faces.empty())
+                return std::nullopt;
+
+            const auto best = *std::ranges::min_element(faces, [](const auto& first, const auto& second)
+                                                        { return first.d < second.d; });
+            out.normal = best.n;
+            out.depth = best.d;
+            out.num_vertices = static_cast<int>(vertexes.size());
+            out.num_faces = static_cast<int>(faces.size());
+
+            out.penetration_vector = out.normal * out.depth;
+
+            return out;
         }
 
     private:
@@ -193,15 +156,21 @@ namespace omath::collision
                 return lhs.d > rhs.d; // min-heap by distance
             }
         };
-        using Heap = std::priority_queue<HeapItem, std::vector<HeapItem>, HeapCmp>;
+
+        using Heap = std::priority_queue<HeapItem, std::pmr::vector<HeapItem>, HeapCmp>;
 
         [[nodiscard]]
-        static Heap rebuild_heap(const std::pmr::vector<Face>& faces)
+        static Heap rebuild_heap(const std::pmr::vector<Face>& faces, auto& memory_resource)
         {
-            Heap h;
+            std::pmr::vector<HeapItem> storage{&memory_resource};
+            storage.reserve(faces.size()); // optional but recommended
+
+            Heap h{HeapCmp{}, std::move(storage)};
+
             for (int i = 0; i < static_cast<int>(faces.size()); ++i)
                 h.emplace(faces[i].d, i);
-            return h;
+
+            return h; // allocator is preserved
         }
 
         [[nodiscard]]
@@ -267,5 +236,67 @@ namespace omath::collision
                     return d;
             return V{1, 0, 0};
         }
+        [[nodiscard]]
+        static std::pmr::vector<Face> create_initial_tetra_faces(std::pmr::memory_resource& mem_resource,
+                                                                 const std::pmr::vector<VectorType>& vertexes)
+        {
+            std::pmr::vector<Face> faces{&mem_resource};
+            faces.reserve(4);
+            faces.emplace_back(make_face(vertexes, 0, 1, 2));
+            faces.emplace_back(make_face(vertexes, 0, 2, 3));
+            faces.emplace_back(make_face(vertexes, 0, 3, 1));
+            faces.emplace_back(make_face(vertexes, 1, 3, 2));
+            return faces;
+        }
+
+        [[nodiscard]]
+        static std::pmr::vector<VectorType> build_initial_polytope_from_simplex(const Simplex<VectorType>& simplex,
+                                                                                std::pmr::memory_resource& mem_resource)
+        {
+            std::pmr::vector<VectorType> vertexes{&mem_resource};
+            vertexes.reserve(simplex.size());
+
+            for (std::size_t i = 0; i < simplex.size(); ++i)
+                vertexes.emplace_back(simplex[i]);
+
+            return vertexes;
+        }
+        static void erase_marked(std::pmr::vector<Face>& faces, const std::pmr::vector<bool>& to_delete)
+        {
+            auto* mr = faces.get_allocator().resource(); // keep same resource
+            std::pmr::vector<Face> kept{mr};
+            kept.reserve(faces.size());
+
+            for (std::size_t i = 0; i < faces.size(); ++i)
+                if (!to_delete[i])
+                    kept.emplace_back(faces[i]);
+
+            faces.swap(kept);
+        }
+        struct Horizon
+        {
+            std::pmr::vector<bool> to_delete;
+            std::pmr::vector<Edge> boundary;
+        };
+
+        static Horizon mark_visible_and_collect_horizon(const std::pmr::vector<Face>& faces, const VectorType& p)
+        {
+            auto* mr = faces.get_allocator().resource();
+
+            Horizon horizon{std::pmr::vector<bool>(faces.size(), false, mr), std::pmr::vector<Edge>(mr)};
+            horizon.boundary.reserve(faces.size());
+
+            for (std::size_t i = 0; i < faces.size(); ++i)
+                if (visible_from(faces[i], p))
+                {
+                    const auto& rf = faces[i];
+                    horizon.to_delete[i] = true;
+                    add_edge_boundary(horizon.boundary, rf.i0, rf.i1);
+                    add_edge_boundary(horizon.boundary, rf.i1, rf.i2);
+                    add_edge_boundary(horizon.boundary, rf.i2, rf.i0);
+                }
+
+            return horizon;
+        }
     };
 } // namespace omath::collision

include/omath/projection/camera.hpp

@@ -5,6 +5,7 @@
 #pragma once
 
 #include "omath/linear_algebra/mat.hpp"
+#include "omath/linear_algebra/triangle.hpp"
 #include "omath/linear_algebra/vector3.hpp"
 #include "omath/projection/error_codes.hpp"
 #include <expected>
@@ -175,6 +176,53 @@ namespace omath::projection
                 std::unreachable();
         }
 
+        [[nodiscard]] bool is_culled_by_frustum(const Triangle<Vector3<float>>& triangle) const noexcept
+        {
+            // Transform to clip space (before perspective divide)
+            auto to_clip = [this](const Vector3<float>& point)
+            {
+                auto clip = get_view_projection_matrix()
+                            * mat_column_from_vector<float, Mat4X4Type::get_store_ordering()>(point);
+                return std::array<float, 4>{
+                        clip.at(0, 0), // x
+                        clip.at(1, 0), // y
+                        clip.at(2, 0), // z
+                        clip.at(3, 0) // w
+                };
+            };
+
+            const auto c0 = to_clip(triangle.m_vertex1);
+            const auto c1 = to_clip(triangle.m_vertex2);
+            const auto c2 = to_clip(triangle.m_vertex3);
+
+            // If all vertices are behind the camera (w <= 0), trivially reject
+            if (c0[3] <= 0.f && c1[3] <= 0.f && c2[3] <= 0.f)
+                return true;
+
+            // Helper: all three vertices outside the same clip plane
+            auto all_outside_plane = [](const int axis, const std::array<float, 4>& a, const std::array<float, 4>& b,
+                                        const std::array<float, 4>& c, const bool positive_side)
+            {
+                if (positive_side)
+                    return a[axis] > a[3] && b[axis] > b[3] && c[axis] > c[3];
+                return a[axis] < -a[3] && b[axis] < -b[3] && c[axis] < -c[3];
+            };
+
+            // Clip volume in clip space (OpenGL-style):
+            // -w <= x <= w
+            // -w <= y <= w
+            // -w <= z <= w
+
+            for (int i = 0; i < 3; i++)
+            {
+                if (all_outside_plane(i, c0, c1, c2, false))
+                    return true; // x < -w (left)
+                if (all_outside_plane(i, c0, c1, c2, true))
+                    return true; // x >  w (right)
+            }
+            return false;
+        }
+
         [[nodiscard]] std::expected<Vector3<float>, Error>
         world_to_view_port(const Vector3<float>& world_position) const noexcept
         {

tests/general/unit_test_epa.cpp

@@ -45,7 +45,7 @@ TEST(UnitTestEpa, TestCollisionTrue)
     auto pool = std::make_shared<std::pmr::monotonic_buffer_resource>(1024);
     params.max_iterations = 64;
     params.tolerance = 1e-4f;
-    auto epa = EPA::solve(A, B, gjk.simplex, params, pool);
+    auto epa = EPA::solve(A, B, gjk.simplex, params, *pool);
     ASSERT_TRUE(epa.has_value()) << "EPA should converge";
 
     // Normal is unit
@@ -119,7 +119,7 @@ TEST(UnitTestEpa, TestCollisionTrue2)
     params.max_iterations = 64;
     params.tolerance = 1e-4f;
     auto pool = std::make_shared<std::pmr::monotonic_buffer_resource>(1024);
-    auto epa = EPA::solve(A, B, gjk.simplex, params, pool);
+    auto epa = EPA::solve(A, B, gjk.simplex, params, *pool);
     ASSERT_TRUE(epa.has_value()) << "EPA should converge";
 
     // Normal is unit-length