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/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

@@ -50,158 +50,163 @@
         [[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()};
+            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]);
 
             // Initial tetra faces (windings corrected in make_face)
-            std::pmr::vector<Face> faces{mem_resource.get()};
+            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));
 
-            auto heap = rebuild_heap(faces);
+            auto heap = rebuild_heap(faces, mem_resource);
 
             Result out{};
 
             for (int it = 0; it < params.max_iterations; ++it)
             {
                 // If heap might be stale after face edits, rebuild lazily.
                 if (heap.empty())
                     break;
                 // Rebuild when the "closest" face changed (simple cheap guard)
                 // (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;
 
                 const int fidx = heap.top().idx;
                 const Face face = faces[fidx];
 
                 // Get the furthest point in face normal direction
                 const VectorType p = support_point(a, b, face.n);
                 const float p_dist = face.n.dot(p);
 
                 // Converged if we can’t push the face closer than tolerance
                 if (p_dist - face.d <= params.tolerance)
                 {
                     out.normal = face.n;
                     out.depth = face.d; // along unit normal
                     out.iterations = it + 1;
                     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;
                 }
 
                 // Add new vertex
                 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()};
+                std::pmr::vector<bool> to_delete(faces.size(), false, &mem_resource); // uses single bits
+                std::pmr::vector<Edge> boundary{&mem_resource};
                 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);
                     }
                 }
 
                 // Remove visible faces
-                std::pmr::vector<Face> new_faces{mem_resource.get()};
+                std::pmr::vector<Face> new_faces{&mem_resource};
                 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);
 
                 // 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;
         }
 
     private:
         struct Face final
         {
             int i0, i1, i2;
             VectorType n; // unit outward normal
             float d; // n · v0  (>=0 ideally because origin is inside)
         };
 
         struct Edge final
         {
             int a, b;
         };
 
         struct HeapItem final
         {
             float d;
             int idx;
         };
         struct HeapCmp final
         {
             [[nodiscard]]
             static bool operator()(const HeapItem& lhs, const HeapItem& rhs) noexcept
             {
                 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]]

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