diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 00000000..13566b81
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml
index defa978b..5d6ba7c9 100644
--- a/.idea/codeStyles/Project.xml
+++ b/.idea/codeStyles/Project.xml
@@ -182,19 +182,12 @@
-
-
-
-
-
-
-
diff --git a/.idea/codeStyles/codeStyleConfig.xml b/.idea/codeStyles/codeStyleConfig.xml
index 79ee123c..6e6eec11 100644
--- a/.idea/codeStyles/codeStyleConfig.xml
+++ b/.idea/codeStyles/codeStyleConfig.xml
@@ -1,5 +1,6 @@
+
\ No newline at end of file
diff --git a/README.md b/README.md
index e78e420f..d47e66db 100644
--- a/README.md
+++ b/README.md
@@ -42,7 +42,8 @@ Oranges's Math Library (omath) is a comprehensive, open-source library aimed at
| Source | ✅YES |
| Unity | ✅YES |
| IWEngine | ✅YES |
-| Unreal | ❌NO |
+| OpenGL | ✅YES |
+| Unreal | ✅YES |
## Supported Operating Systems
diff --git a/include/omath/engines/unreal_engine/camera.hpp b/include/omath/engines/unreal_engine/camera.hpp
new file mode 100644
index 00000000..30d5daf5
--- /dev/null
+++ b/include/omath/engines/unreal_engine/camera.hpp
@@ -0,0 +1,13 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+
+#pragma once
+#include "omath/engines/unreal_engine/constants.hpp"
+#include "omath/projection/camera.hpp"
+#include "traits/camera_trait.hpp"
+
+namespace omath::unreal_engine
+{
+ using Camera = projection::Camera;
+} // namespace omath::unreal_engine
\ No newline at end of file
diff --git a/include/omath/engines/unreal_engine/constants.hpp b/include/omath/engines/unreal_engine/constants.hpp
new file mode 100644
index 00000000..16f93f73
--- /dev/null
+++ b/include/omath/engines/unreal_engine/constants.hpp
@@ -0,0 +1,26 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+
+#pragma once
+
+#include
+#include
+#include
+#include
+
+namespace omath::unreal_engine
+{
+ constexpr Vector3 k_abs_up = {0, 0, 1};
+ constexpr Vector3 k_abs_right = {0, 1, 0};
+ constexpr Vector3 k_abs_forward = {1, 0, 0};
+
+ using Mat4X4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+ using Mat3X3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
+ using Mat1X3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
+ using PitchAngle = Angle;
+ using YawAngle = Angle;
+ using RollAngle = Angle;
+
+ using ViewAngles = omath::ViewAngles;
+} // namespace omath::unreal_engine
diff --git a/include/omath/engines/unreal_engine/formulas.hpp b/include/omath/engines/unreal_engine/formulas.hpp
new file mode 100644
index 00000000..4e601ce8
--- /dev/null
+++ b/include/omath/engines/unreal_engine/formulas.hpp
@@ -0,0 +1,26 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+
+#pragma once
+#include "omath/engines/unreal_engine/constants.hpp"
+
+namespace omath::unreal_engine
+{
+ [[nodiscard]]
+ Vector3 forward_vector(const ViewAngles& angles) noexcept;
+
+ [[nodiscard]]
+ Vector3 right_vector(const ViewAngles& angles) noexcept;
+
+ [[nodiscard]]
+ Vector3 up_vector(const ViewAngles& angles) noexcept;
+
+ [[nodiscard]] Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3& cam_origin) noexcept;
+
+ [[nodiscard]]
+ Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept;
+
+ [[nodiscard]]
+ Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far) noexcept;
+} // namespace omath::unreal_engine
diff --git a/include/omath/engines/unreal_engine/traits/camera_trait.hpp b/include/omath/engines/unreal_engine/traits/camera_trait.hpp
new file mode 100644
index 00000000..f2de27e4
--- /dev/null
+++ b/include/omath/engines/unreal_engine/traits/camera_trait.hpp
@@ -0,0 +1,24 @@
+//
+// Created by Vlad on 8/10/2025.
+//
+
+#pragma once
+#include "omath/engines/unreal_engine/formulas.hpp"
+#include "omath/projection/camera.hpp"
+
+namespace omath::unreal_engine
+{
+ class CameraTrait final
+ {
+ public:
+ [[nodiscard]]
+ static ViewAngles calc_look_at_angle(const Vector3& cam_origin, const Vector3& look_at) noexcept;
+
+ [[nodiscard]]
+ static Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3& cam_origin) noexcept;
+ [[nodiscard]]
+ static Mat4X4 calc_projection_matrix(const projection::FieldOfView& fov, const projection::ViewPort& view_port,
+ float near, float far) noexcept;
+ };
+
+} // namespace omath::unreal_engine
\ No newline at end of file
diff --git a/include/omath/engines/unreal_engine/traits/pred_engine_trait.hpp b/include/omath/engines/unreal_engine/traits/pred_engine_trait.hpp
new file mode 100644
index 00000000..a57b8807
--- /dev/null
+++ b/include/omath/engines/unreal_engine/traits/pred_engine_trait.hpp
@@ -0,0 +1,78 @@
+//
+// Created by Vlad on 8/6/2025.
+//
+#pragma once
+#include "omath/engines/unreal_engine/formulas.hpp"
+#include "omath/projectile_prediction/projectile.hpp"
+#include "omath/projectile_prediction/target.hpp"
+#include
+
+namespace omath::unreal_engine
+{
+ class PredEngineTrait final
+ {
+ public:
+ constexpr static Vector3 predict_projectile_position(const projectile_prediction::Projectile& projectile,
+ const float pitch, const float yaw,
+ const float time, const float gravity) noexcept
+ {
+ auto current_pos = projectile.m_origin
+ + forward_vector({PitchAngle::from_degrees(-pitch), YawAngle::from_degrees(yaw),
+ RollAngle::from_degrees(0)})
+ * projectile.m_launch_speed * time;
+ current_pos.y -= (gravity * projectile.m_gravity_scale) * (time * time) * 0.5f;
+
+ return current_pos;
+ }
+ [[nodiscard]]
+ static constexpr Vector3 predict_target_position(const projectile_prediction::Target& target,
+ const float time, const float gravity) noexcept
+ {
+ auto predicted = target.m_origin + target.m_velocity * time;
+
+ if (target.m_is_airborne)
+ predicted.y -= gravity * (time * time) * 0.5f;
+
+ return predicted;
+ }
+ [[nodiscard]]
+ static float calc_vector_2d_distance(const Vector3& delta) noexcept
+ {
+ return std::sqrt(delta.x * delta.x + delta.z * delta.z);
+ }
+
+ [[nodiscard]]
+ constexpr static float get_vector_height_coordinate(const Vector3& vec) noexcept
+ {
+ return vec.y;
+ }
+
+ [[nodiscard]]
+ static Vector3 calc_viewpoint_from_angles(const projectile_prediction::Projectile& projectile,
+ Vector3 predicted_target_position,
+ const std::optional projectile_pitch) noexcept
+ {
+ const auto delta2d = calc_vector_2d_distance(predicted_target_position - projectile.m_origin);
+ const auto height = delta2d * std::tan(angles::degrees_to_radians(projectile_pitch.value()));
+
+ return {predicted_target_position.x, predicted_target_position.y, projectile.m_origin.z + height};
+ }
+ // Due to specification of maybe_calculate_projectile_launch_pitch_angle, pitch angle must be:
+ // 89 look up, -89 look down
+ [[nodiscard]]
+ static float calc_direct_pitch_angle(const Vector3& origin, const Vector3& view_to) noexcept
+ {
+ const auto distance = origin.distance_to(view_to);
+ const auto delta = view_to - origin;
+
+ return angles::radians_to_degrees(std::asin(delta.z / distance));
+ }
+ [[nodiscard]]
+ static float calc_direct_yaw_angle(const Vector3& origin, const Vector3& view_to) noexcept
+ {
+ const auto delta = view_to - origin;
+
+ return angles::radians_to_degrees(std::atan2(delta.y, delta.x));
+ };
+ };
+} // namespace omath::unreal_engine
diff --git a/source/engines/unreal_engine/formulas.cpp b/source/engines/unreal_engine/formulas.cpp
new file mode 100644
index 00000000..6f02ae85
--- /dev/null
+++ b/source/engines/unreal_engine/formulas.cpp
@@ -0,0 +1,49 @@
+//
+// Created by Vlad on 3/22/2025.
+//
+#include "omath/engines/unreal_engine/formulas.hpp"
+
+namespace omath::unreal_engine
+{
+ Vector3 forward_vector(const ViewAngles& angles) noexcept
+ {
+ const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_forward);
+
+ return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+ }
+ Vector3 right_vector(const ViewAngles& angles) noexcept
+ {
+ const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_right);
+
+ return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+ }
+ Vector3 up_vector(const ViewAngles& angles) noexcept
+ {
+ const auto vec = rotation_matrix(angles) * mat_column_from_vector(k_abs_up);
+
+ return {vec.at(0, 0), vec.at(1, 0), vec.at(2, 0)};
+ }
+ Mat4X4 calc_view_matrix(const ViewAngles& angles, const Vector3& cam_origin) noexcept
+ {
+ return mat_camera_view(forward_vector(angles), -right_vector(angles),
+ up_vector(angles), cam_origin);
+ }
+ Mat4X4 rotation_matrix(const ViewAngles& angles) noexcept
+ {
+ return mat_rotation_axis_x(angles.roll)
+ * mat_rotation_axis_y(angles.pitch)
+ * mat_rotation_axis_z(angles.yaw);
+ }
+ Mat4X4 calc_perspective_projection_matrix(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, 0, 0},
+ {0, 1.f / (fov_half_tan), 0, 0},
+ {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
+ {0, 0, -1.f, 0},
+ };
+ }
+} // namespace omath::unreal_engine
diff --git a/source/engines/unreal_engine/traits/camera_trait.cpp b/source/engines/unreal_engine/traits/camera_trait.cpp
new file mode 100644
index 00000000..5eb81262
--- /dev/null
+++ b/source/engines/unreal_engine/traits/camera_trait.cpp
@@ -0,0 +1,27 @@
+//
+// Created by Vlad on 8/11/2025.
+//
+#include "omath/engines/unreal_engine/traits/camera_trait.hpp"
+
+namespace omath::unreal_engine
+{
+
+ ViewAngles CameraTrait::calc_look_at_angle(const Vector3& cam_origin, const Vector3& look_at) noexcept
+ {
+ const auto distance = cam_origin.distance_to(look_at);
+ const auto delta = cam_origin - look_at;
+
+ return {PitchAngle::from_radians(-std::asin(delta.z / distance)),
+ YawAngle::from_radians(std::atan2(delta.x, delta.y)), RollAngle::from_radians(0.f)};
+ }
+ Mat4X4 CameraTrait::calc_view_matrix(const ViewAngles& angles, const Vector3& cam_origin) noexcept
+ {
+ return unreal_engine::calc_view_matrix(angles, cam_origin);
+ }
+ Mat4X4 CameraTrait::calc_projection_matrix(const projection::FieldOfView& fov,
+ const projection::ViewPort& view_port, const float near,
+ const float far) noexcept
+ {
+ return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far);
+ }
+} // namespace omath::unreal_engine
\ No newline at end of file
diff --git a/tests/engines/unit_test_unreal_engine.cpp b/tests/engines/unit_test_unreal_engine.cpp
new file mode 100644
index 00000000..a57a9362
--- /dev/null
+++ b/tests/engines/unit_test_unreal_engine.cpp
@@ -0,0 +1,108 @@
+//
+// Created by Vlad on 8/25/2025.
+//
+//
+// Created by Orange on 11/27/2024.
+//
+#include
+#include
+#include
+#include
+#include
+
+TEST(unit_test_unreal_engine, ForwardVector)
+{
+ const auto forward = omath::unreal_engine::forward_vector({});
+
+ EXPECT_EQ(forward, omath::unreal_engine::k_abs_forward);
+}
+
+TEST(unit_test_unreal_engine, ForwardVectorRotationYaw)
+{
+ omath::unreal_engine::ViewAngles angles;
+
+ angles.yaw = omath::unreal_engine::YawAngle::from_degrees(90.f);
+
+ const auto forward = omath::unreal_engine::forward_vector(angles);
+ EXPECT_NEAR(forward.x, omath::unreal_engine::k_abs_right.x, 0.00001f);
+ EXPECT_NEAR(forward.y, omath::unreal_engine::k_abs_right.y, 0.00001f);
+ EXPECT_NEAR(forward.z, omath::unreal_engine::k_abs_right.z, 0.00001f);
+}
+
+TEST(unit_test_unreal_engine, ForwardVectorRotationPitch)
+{
+ omath::unreal_engine::ViewAngles angles;
+
+ angles.pitch = omath::unreal_engine::PitchAngle::from_degrees(-90.f);
+
+ const auto forward = omath::unreal_engine::forward_vector(angles);
+ EXPECT_NEAR(forward.x, omath::unreal_engine::k_abs_up.x, 0.00001f);
+ EXPECT_NEAR(forward.y, omath::unreal_engine::k_abs_up.y, 0.00001f);
+ EXPECT_NEAR(forward.z, omath::unreal_engine::k_abs_up.z, 0.00001f);
+}
+
+TEST(unit_test_unreal_engine, ForwardVectorRotationRoll)
+{
+ omath::unreal_engine::ViewAngles angles;
+
+ angles.roll = omath::unreal_engine::RollAngle::from_degrees(-90.f);
+
+ const auto forward = omath::unreal_engine::up_vector(angles);
+ EXPECT_NEAR(forward.x, omath::unreal_engine::k_abs_right.x, 0.00001f);
+ EXPECT_NEAR(forward.y, omath::unreal_engine::k_abs_right.y, 0.00001f);
+ EXPECT_NEAR(forward.z, omath::unreal_engine::k_abs_right.z, 0.00001f);
+}
+
+TEST(unit_test_unreal_engine, RightVector)
+{
+ const auto right = omath::unreal_engine::right_vector({});
+
+ EXPECT_EQ(right, omath::unreal_engine::k_abs_right);
+}
+
+TEST(unit_test_unreal_engine, UpVector)
+{
+ const auto up = omath::unreal_engine::up_vector({});
+ EXPECT_EQ(up, omath::unreal_engine::k_abs_up);
+}
+
+TEST(unit_test_unreal_engine, ProjectTargetMovedFromCamera)
+{
+ constexpr auto fov = omath::projection::FieldOfView::from_degrees(60.f);
+ const auto cam = omath::unreal_engine::Camera({0, 0, 0}, {}, {1280.f, 720.f}, fov, 0.01f, 1000.f);
+
+
+ for (float distance = 0.02f; distance < 100.f; distance += 0.01f)
+ {
+ const auto projected = cam.world_to_screen({distance, 0, 0});
+
+ EXPECT_TRUE(projected.has_value());
+
+ if (!projected.has_value())
+ continue;
+
+ EXPECT_NEAR(projected->x, 640, 0.00001f);
+ EXPECT_NEAR(projected->y, 360, 0.00001f);
+ }
+}
+
+TEST(unit_test_unreal_engine, CameraSetAndGetFov)
+{
+ constexpr auto fov = omath::projection::FieldOfView::from_degrees(90.f);
+ auto cam = omath::unreal_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+ EXPECT_EQ(cam.get_field_of_view().as_degrees(), 90.f);
+ cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
+
+ EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
+
+TEST(unit_test_unreal_engine, CameraSetAndGetOrigin)
+{
+ auto cam = omath::unreal_engine::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, {}, 0.01f, 1000.f);
+
+ EXPECT_EQ(cam.get_origin(), omath::Vector3{});
+ cam.set_field_of_view(omath::projection::FieldOfView::from_degrees(50.f));
+
+ EXPECT_EQ(cam.get_field_of_view().as_degrees(), 50.f);
+}
\ No newline at end of file