sebsjames · sebsjames · Jan 30, 2026 · Jan 31, 2026 · Feb 1, 2026 · Feb 1, 2026
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -52,7 +52,7 @@ else()
       endif()
     endif()
     set(COMPREHENSIVE_WARNING_FLAGS "-Wall -Wextra -Wpedantic -pedantic-errors -Werror -Wfatal-errors -Wno-psabi")
-    set(CMAKE_CXX_FLAGS "-g ${COMPREHENSIVE_WARNING_FLAGS} -O3")
+    set(CMAKE_CXX_FLAGS "-g ${COMPREHENSIVE_WARNING_FLAGS} -O0")
     if(CMAKE_CXX_COMPILER_ID MATCHES GNU)
       # Make it possible to compile complex constexpr functions (gcc only)
       set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fconstexpr-ops-limit=5000000000")

diff --git a/examples/draw_triangles_intersections.cpp b/examples/draw_triangles_intersections.cpp
@@ -332,11 +332,11 @@ int main()
 
     auto start_wr = (vmi * start).less_one_dim(); // wr to tvp
     std::cout << "start_wr = " << start_wr << std::endl;
-    auto [hit, ti, tn] = tvp->navmesh->find_triangle_crossing (start_wr, dirn);
-    if (ti[0] == std::numeric_limits<uint32_t>::max()) {
+    auto [hit, ti] = tvp->navmesh->find_triangle_crossing (start_wr, dirn, vm);
+    if (ti == std::numeric_limits<uint32_t>::max()) {
         std::cout << "NO HIT\n";
     } else {
-        std::cout << "Indices: " << ti[0] << "," << ti[1] << "," << ti[2] << std::endl;
+        std::cout << "Indices: " << ti << std::endl;
         std::cout << "Contains hit " << hit << std::endl;
 
         sv = std::make_unique<mplot::SphereVisual<>>(hit, 0.07, mplot::colour::springgreen2);
@@ -346,11 +346,11 @@ int main()
     }
 
     auto start_wr_fr2 = (vmi * start_fr2).less_one_dim(); // wr to tvp
-    auto [hit_fr2, ti_fr2, tn_fr2] = tvp->navmesh->find_triangle_crossing (start_wr_fr2, dirn_fr2);
-    if (ti[0] == std::numeric_limits<uint32_t>::max()) {
+    auto [hit_fr2, ti_fr2] = tvp->navmesh->find_triangle_crossing (start_wr_fr2, dirn_fr2, vm);
+    if (ti_fr2 == std::numeric_limits<uint32_t>::max()) {
         std::cout << "NO HIT\n";
     } else {
-        std::cout << "Indices: " << ti_fr2[0] << "," << ti_fr2[1] << "," << ti_fr2[2] << std::endl;
+        std::cout << "Indices: " << ti_fr2 << std::endl;
         std::cout << "Contains hit " << hit_fr2 << std::endl;
 
         sv = std::make_unique<mplot::SphereVisual<>>(hit_fr2, 0.07, mplot::colour::springgreen2);
@@ -361,11 +361,11 @@ int main()
 
     auto start_wr_bh = (vmi * start_bh).less_one_dim(); // wr to tvp
     std::cout << "start_wr = " << start_wr << std::endl;
-    auto [hit_bh, ti_bh, tn_bh] = tvp->navmesh->find_triangle_crossing (start_wr_bh, dirn_bh);
-    if (ti_bh[0] == std::numeric_limits<uint32_t>::max()) {
+    auto [hit_bh, ti_bh] = tvp->navmesh->find_triangle_crossing (start_wr_bh, dirn_bh, vm);
+    if (ti_bh == std::numeric_limits<uint32_t>::max()) {
         std::cout << "NO HIT\n";
     } else {
-        std::cout << "Indices: " << ti_bh[0] << "," << ti_bh[1] << "," << ti_bh[2] << std::endl;
+        std::cout << "Indices: " << ti_bh << std::endl;
         std::cout << "Contains hit " << hit_bh << std::endl;
 
         sv = std::make_unique<mplot::SphereVisual<>>(hit_bh, 0.07, mplot::colour::springgreen2);

diff --git a/examples/grid_border2.cpp b/examples/grid_border2.cpp
@@ -15,11 +15,13 @@
 #include <mplot/Visual.h>
 #include <mplot/VisualDataModel.h>
 #include <mplot/GridVisual.h>
+#include <mplot/NormalsVisual.h>
 
 int main()
 {
     mplot::Visual v(1600, 1000, "Flat GridVisual grids with borders");
     v.lightingEffects();
+    v.rotateAboutNearest (true);
 
     // Create a grid to show in the scene
     constexpr unsigned int Nside = 4; // You can change this
@@ -172,6 +174,35 @@ int main()
     gv->addLabel ("Triangles, border (smaller is as expected)", lblpos, mplot::TextFeatures(0.08f));
     gv->finalize();
     v.addVisualModel (gv);
+
+    offset[0] += grid.width_of_pixels() * 1.2f;
+    gv = std::make_unique<mplot::GridVisual<float>>(&grid, offset);
+    v.bindmodel (gv);
+    gv->gridVisMode = mplot::GridVisMode::Triangles;
+    gv->setScalarData (&data);
+    gv->cm.setType (mplot::ColourMapType::Cork);
+    gv->zScale.do_autoscale = false;
+    gv->zScale.null_scaling();
+    gv->colourScale.do_autoscale = false;
+    gv->colourScale.compute_scaling (-1, 1);
+    // Border specific parameters
+    gv->showborder (false);
+    gv->addLabel ("Triangles, no border, showing halfedges", lblpos, mplot::TextFeatures(0.08f));
+    gv->finalize();
+    auto gvp = v.addVisualModel (gv);
+
+    // Make a navmesh for this last one
+    gvp->make_navmesh();
+
+    // Add a Normals visual for the last one, too
+    auto nrm = std::make_unique<mplot::NormalsVisual<>> (gvp);
+    v.bindmodel (nrm);
+    nrm->options.set (mplot::normalsvisual_flags::show_halfedges);
+    nrm->options.set (mplot::normalsvisual_flags::show_boundary_next);
+    nrm->options.set (mplot::normalsvisual_flags::show_boundary_prev);
+    nrm->finalize();
+    v.addVisualModel (nrm);
+
     v.keepOpen();
 
     return 0;

diff --git a/examples/model_crawler.cpp b/examples/model_crawler.cpp
@@ -93,8 +93,8 @@ int main (int argc, char** argv)
     // Find the triangle that we're initially located above with
     // mplot::NavMesh::find_triangle_hit. This updates internal state in NavMesh. It could be
     // executed automatically in compute_mesh_movement
-    auto[hp_scene, tn0, ti0] = gvp->navmesh->find_triangle_hit (ca_view, sph_view);
-    std::cout << "Find hit finds hit point " << hp_scene << std::endl;
+    auto[hp_scene, ti0] = gvp->navmesh->find_triangle_hit (ca_view, sph_view);
+    std::cout << "Find hit finds hit point " << hp_scene << " with ti0 halfedge: " << ti0 << std::endl;
 
     int move_counter = 0;
     constexpr int move_max = 1000;
@@ -106,12 +106,8 @@ int main (int argc, char** argv)
         // Compute a new movement over the landscape mesh (the sphere)
         try {
             ca_view = gvp->navmesh->compute_mesh_movement (mv_ca, ca_view, sph_view, hoverheight);
-        } catch (mplot::NavException& e) {
-            if (e.m_type == mplot::NavException::type::off_edge) {
-                std::cout << "You can handle movements that go off the edge of a flat model\n";
-            }
+        } catch (std::exception& e) {
             std::cout << "Exception navigating mesh at movement count " << move_counter << ": " << e.what() << std::endl;
-            throw e;
         }
 
         // Update the viewmatrix of the coord arrows, setting its position within the scene

diff --git a/examples/triangle_intersect.cpp b/examples/triangle_intersect.cpp
@@ -71,11 +71,11 @@ int main (int argc, char** argv)
 
     auto start_wr = (vmi * start).less_one_dim(); // wr to tvp
     std::cout << "start_wr = " << start_wr << std::endl;
-    auto [hit, ti, tn] = tvp->navmesh->find_triangle_crossing (start_wr, dirn);
-    if (ti[0] == std::numeric_limits<uint32_t>::max()) {
+    auto [hit, ti] = tvp->navmesh->find_triangle_crossing (start_wr, dirn, vm);
+    if (ti == std::numeric_limits<uint32_t>::max()) {
         std::cout << "NO HIT\n";
     } else {
-        std::cout << "Indices: " << ti[0] << "," << ti[1] << "," << ti[2] << std::endl;
+        std::cout << "Indices: " << ti << std::endl;
         std::cout << "Contains hit " << hit << std::endl;
 
         sv = std::make_unique<mplot::SphereVisual<>>(hit, start_sphr * 1.1f, mplot::colour::springgreen2);

diff --git a/maths b/maths
diff --git a/mplot/GridVisual.h b/mplot/GridVisual.h
@@ -493,12 +493,12 @@ namespace mplot
                         // Triangle 1
                         I ii = ri * dims[0] + ci;
                         this->indices[ind_idx++] = (ii);
-                        this->indices[ind_idx++] = (ii + dims[0] + 1);  // NNE
                         this->indices[ind_idx++] = (ii + 1);            // NE
+                        this->indices[ind_idx++] = (ii + dims[0] + 1);  // NNE
                         // Triangle 2
                         this->indices[ind_idx++] = (ii);
-                        this->indices[ind_idx++] = (ii + dims[0]);      // NN
                         this->indices[ind_idx++] = (ii + dims[0] + 1);  // NNE
+                        this->indices[ind_idx++] = (ii + dims[0]);      // NN
                     }
                 }
             } else if (this->grid->get_order() == sm::gridorder::topleft_to_bottomright) {
+4 −4		docs/index.md
+1 −1		docs/ref/config.md
+1 −1		docs/ref/constexprmath.md
+215 −0		docs/ref/flags.md
+1 −1		docs/ref/grid.md
+1 −2		docs/ref/hdf.md
+1 −1		docs/ref/histo.md
+16 −1		docs/ref/mat.md
+68 −1		docs/ref/mathconst.md
+1 −1		docs/ref/quat.md
+1 −1		docs/ref/randn.md
+7 −3		docs/ref/range.md
+1 −1		docs/ref/scale.md
+1 −1		docs/ref/vec.md
+1 −1		docs/ref/vvec.md
+21 −1		sm/flags
+7 −0		sm/geometry
+8 −1		sm/mat
+25 −0		sm/util
+6 −0		tests/CMakeLists.txt
+50 −0		tests/geometry_6.cpp
+7 −0		tests/mat_4x4_translate.cpp
+30 −0		tests/testConfig.cpp
+75 −0		tests/util1.cpp