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Merged
orange-cpp merged 3 commits into from
Mar 24, 2026
Merged

Feature/custom ndc z range #177

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4b6db0c
updated z range
orange-cpp Mar 23, 2026
8fb96b8
removed dead code
orange-cpp Mar 23, 2026
89df10b
specifeid ndc for game engines
orange-cpp Mar 23, 2026
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2 changes: 1 addition & 1 deletion include/omath/engines/cry_engine/camera.hpp
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Expand Up @@ -9,5 +9,5 @@

namespace omath::cry_engine
{
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
} // namespace omath::cry_engine
3 changes: 2 additions & 1 deletion include/omath/engines/cry_engine/formulas.hpp
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Expand Up @@ -22,7 +22,8 @@ namespace omath::cry_engine
Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;

[[nodiscard]]
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;

template<class FloatingType>
requires std::is_floating_point_v<FloatingType>
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2 changes: 1 addition & 1 deletion include/omath/engines/cry_engine/traits/camera_trait.hpp
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Expand Up @@ -18,7 +18,7 @@ namespace omath::cry_engine
static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
[[nodiscard]]
static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
float near, float far) noexcept;
float near, float far, NDCDepthRange ndc_depth_range) noexcept;
};

} // namespace omath::cry_engine
2 changes: 1 addition & 1 deletion include/omath/engines/frostbite_engine/camera.hpp
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Expand Up @@ -9,5 +9,5 @@

namespace omath::frostbite_engine
{
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
} // namespace omath::unity_engine
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Copilot AI Mar 23, 2026

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The closing namespace comment is incorrect (it says omath::unity_engine but the header declares namespace omath::frostbite_engine). Please update the comment to match the actual namespace.

Suggested change
} // namespace omath::unity_engine
} // namespace omath::frostbite_engine

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3 changes: 2 additions & 1 deletion include/omath/engines/frostbite_engine/formulas.hpp
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Expand Up @@ -22,7 +22,8 @@ namespace omath::frostbite_engine
Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;

[[nodiscard]]
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;

template<class FloatingType>
requires std::is_floating_point_v<FloatingType>
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2 changes: 1 addition & 1 deletion include/omath/engines/frostbite_engine/traits/camera_trait.hpp
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Expand Up @@ -18,7 +18,7 @@ namespace omath::frostbite_engine
static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
[[nodiscard]]
static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
float near, float far) noexcept;
float near, float far, NDCDepthRange ndc_depth_range) noexcept;
};

} // namespace omath::unreal_engine
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The closing namespace comment is incorrect (it says omath::unreal_engine but the header declares namespace omath::frostbite_engine). Please update the comment to match the actual namespace.

Suggested change
} // namespace omath::unreal_engine
} // namespace omath::frostbite_engine

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2 changes: 1 addition & 1 deletion include/omath/engines/iw_engine/camera.hpp
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Expand Up @@ -9,5 +9,5 @@

namespace omath::iw_engine
{
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
} // namespace omath::iw_engine
3 changes: 2 additions & 1 deletion include/omath/engines/iw_engine/formulas.hpp
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Expand Up @@ -22,7 +22,8 @@ namespace omath::iw_engine
[[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;

[[nodiscard]]
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;

template<class FloatingType>
requires std::is_floating_point_v<FloatingType>
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2 changes: 1 addition & 1 deletion include/omath/engines/iw_engine/traits/camera_trait.hpp
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Expand Up @@ -18,7 +18,7 @@ namespace omath::iw_engine
static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
[[nodiscard]]
static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
float near, float far) noexcept;
float near, float far, NDCDepthRange ndc_depth_range) noexcept;
};

} // namespace omath::iw_engine
2 changes: 1 addition & 1 deletion include/omath/engines/opengl_engine/camera.hpp
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Expand Up @@ -8,5 +8,5 @@

namespace omath::opengl_engine
{
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, true>;
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, true, NDCDepthRange::NEGATIVE_ONE_TO_ONE>;
} // namespace omath::opengl_engine
3 changes: 2 additions & 1 deletion include/omath/engines/opengl_engine/formulas.hpp
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Expand Up @@ -21,7 +21,8 @@ namespace omath::opengl_engine
Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;

[[nodiscard]]
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;

template<class FloatingType>
requires std::is_floating_point_v<FloatingType>
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2 changes: 1 addition & 1 deletion include/omath/engines/opengl_engine/traits/camera_trait.hpp
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Expand Up @@ -18,7 +18,7 @@ namespace omath::opengl_engine
static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
[[nodiscard]]
static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
float near, float far) noexcept;
float near, float far, NDCDepthRange ndc_depth_range) noexcept;
};

} // namespace omath::opengl_engine
2 changes: 1 addition & 1 deletion include/omath/engines/source_engine/camera.hpp
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Expand Up @@ -7,5 +7,5 @@
#include "traits/camera_trait.hpp"
namespace omath::source_engine
{
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
} // namespace omath::source_engine
3 changes: 2 additions & 1 deletion include/omath/engines/source_engine/formulas.hpp
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Expand Up @@ -21,7 +21,8 @@ namespace omath::source_engine
[[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;

[[nodiscard]]
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;

template<class FloatingType>
requires std::is_floating_point_v<FloatingType>
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2 changes: 1 addition & 1 deletion include/omath/engines/source_engine/traits/camera_trait.hpp
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Expand Up @@ -18,7 +18,7 @@ namespace omath::source_engine
static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
[[nodiscard]]
static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
float near, float far) noexcept;
float near, float far, NDCDepthRange ndc_depth_range) noexcept;
};

} // namespace omath::source_engine
2 changes: 1 addition & 1 deletion include/omath/engines/unity_engine/camera.hpp
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Expand Up @@ -9,5 +9,5 @@

namespace omath::unity_engine
{
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
} // namespace omath::unity_engine
3 changes: 2 additions & 1 deletion include/omath/engines/unity_engine/formulas.hpp
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Expand Up @@ -22,7 +22,8 @@ namespace omath::unity_engine
Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;

[[nodiscard]]
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;

template<class FloatingType>
requires std::is_floating_point_v<FloatingType>
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2 changes: 1 addition & 1 deletion include/omath/engines/unity_engine/traits/camera_trait.hpp
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Expand Up @@ -18,7 +18,7 @@ namespace omath::unity_engine
static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
[[nodiscard]]
static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
float near, float far) noexcept;
float near, float far, NDCDepthRange ndc_depth_range) noexcept;
};

} // namespace omath::unity_engine
2 changes: 1 addition & 1 deletion include/omath/engines/unreal_engine/camera.hpp
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Expand Up @@ -9,5 +9,5 @@

namespace omath::unreal_engine
{
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait>;
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
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This changes the default NDC depth convention for omath::unreal_engine::Camera to ZERO_TO_ONE. Since this is a public alias, it’s a behavioral/API change for any existing users relying on the previous default depth range; if both conventions are supported now, consider providing separate aliases (e.g. CameraZO/CameraNO) or documenting the change prominently.

Suggested change
using Camera = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
// Unreal Engine uses a [0, 1] depth range in NDC. Provide explicit camera aliases
// for both supported conventions to avoid ambiguity:
//
// - CameraZO : NDCDepthRange::ZERO_TO_ONE (Unreal-style depth range)
// - CameraNO : NDCDepthRange::NEGATIVE_ONE_TO_ONE (OpenGL-style depth range)
//
// NOTE: The generic `Camera` alias below currently maps to `CameraZO`, i.e. it uses
// NDCDepthRange::ZERO_TO_ONE. In earlier versions, `Camera` used a different default
// depth range (typically NEGATIVE_ONE_TO_ONE). Prefer using `CameraZO` or `CameraNO`
// explicitly if your code depends on a particular NDC depth convention.
using CameraZO = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::ZERO_TO_ONE>;
using CameraNO = projection::Camera<Mat4X4, ViewAngles, CameraTrait, false, NDCDepthRange::NEGATIVE_ONE_TO_ONE>;
// Backward-compatible alias: keep `Camera` pointing to the ZERO_TO_ONE variant.
using Camera = CameraZO;

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} // namespace omath::unreal_engine
3 changes: 2 additions & 1 deletion include/omath/engines/unreal_engine/formulas.hpp
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Expand Up @@ -22,7 +22,8 @@ namespace omath::unreal_engine
Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;

[[nodiscard]]
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;

template<class FloatingType>
requires std::is_floating_point_v<FloatingType>
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2 changes: 1 addition & 1 deletion include/omath/engines/unreal_engine/traits/camera_trait.hpp
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Expand Up @@ -18,7 +18,7 @@ namespace omath::unreal_engine
static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3<float>& cam_origin) noexcept;
[[nodiscard]]
static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
float near, float far) noexcept;
float near, float far, NDCDepthRange ndc_depth_range) noexcept;
};

} // namespace omath::unreal_engine
92 changes: 66 additions & 26 deletions include/omath/linear_algebra/mat.hpp
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Expand Up @@ -37,6 +37,12 @@ namespace omath
COLUMN_MAJOR
};

enum class NDCDepthRange : uint8_t
{
NEGATIVE_ONE_TO_ONE = 0, // OpenGL: [-1.0, 1.0]
ZERO_TO_ONE // DirectX / Vulkan: [0.0, 1.0]
};

template<typename M1, typename M2> concept MatTemplateEqual
= (M1::rows == M2::rows) && (M1::columns == M2::columns)
&& std::is_same_v<typename M1::value_type, typename M2::value_type> && (M1::store_type == M2::store_type);
Expand Down Expand Up @@ -658,56 +664,90 @@ namespace omath
} * mat_translation<Type, St>(-camera_origin);
}

template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
[[nodiscard]]
Mat<4, 4, Type, St> mat_perspective_left_handed(const float field_of_view, const float aspect_ratio,
const float near, const float far) noexcept
{
const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);

return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
{0.f, 1.f / fov_half_tan, 0.f, 0.f},
{0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
{0.f, 0.f, 1.f, 0.f}};
if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
{0.f, 1.f / fov_half_tan, 0.f, 0.f},
{0.f, 0.f, far / (far - near), -(near * far) / (far - near)},
{0.f, 0.f, 1.f, 0.f}};
else
return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
{0.f, 1.f / fov_half_tan, 0.f, 0.f},
{0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
{0.f, 0.f, 1.f, 0.f}};
}

template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
[[nodiscard]]
Mat<4, 4, Type, St> mat_perspective_right_handed(const float field_of_view, const float aspect_ratio,
const float near, const float far) noexcept
{
const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);

return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
{0.f, 1.f / fov_half_tan, 0.f, 0.f},
{0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
{0.f, 0.f, -1.f, 0.f}};
if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
{0.f, 1.f / fov_half_tan, 0.f, 0.f},
{0.f, 0.f, -far / (far - near), -(near * far) / (far - near)},
{0.f, 0.f, -1.f, 0.f}};
else
return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
{0.f, 1.f / fov_half_tan, 0.f, 0.f},
{0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
{0.f, 0.f, -1.f, 0.f}};
}
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
[[nodiscard]]
Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
const Type near, const Type far) noexcept
{
return
{
{ static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
{ 0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
{ 0.f, 0.f, static_cast<Type>(2) / (far - near), -(far + near) / (far - near) },
{ 0.f, 0.f, 0.f, 1.f }
};
if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
return
{
{ static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
{ 0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
{ 0.f, 0.f, static_cast<Type>(1) / (far - near), -near / (far - near) },
{ 0.f, 0.f, 0.f, 1.f }
};
else
return
{
{ static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
{ 0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
{ 0.f, 0.f, static_cast<Type>(2) / (far - near), -(far + near) / (far - near) },
{ 0.f, 0.f, 0.f, 1.f }
};
}
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
[[nodiscard]]
Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top,
const Type near, const Type far) noexcept
{
return
{
{ static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
{ 0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
{ 0.f, 0.f, -static_cast<Type>(2) / (far - near), -(far + near) / (far - near) },
{ 0.f, 0.f, 0.f, 1.f }
};
if constexpr (DepthRange == NDCDepthRange::ZERO_TO_ONE)
return
{
{ static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
{ 0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
{ 0.f, 0.f, -static_cast<Type>(1) / (far - near), -near / (far - near) },
{ 0.f, 0.f, 0.f, 1.f }
};
else
return
{
{ static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
{ 0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
{ 0.f, 0.f, -static_cast<Type>(2) / (far - near), -(far + near) / (far - near) },
{ 0.f, 0.f, 0.f, 1.f }
};
}
template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
Mat<4, 4, T, St> mat_look_at_left_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)
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