KzLib is a lightweight, public, and constantly growing utility library for Unreal Engine, focused on mathematics, geometry, and generic programming.
It’s designed to be modular, dependency-free, and serves as a foundation for larger systems such as Axon Physics and other advanced simulation or gameplay frameworks.

Repository: https://github.com/RubenPineda/KzLib

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Key Features

• Unified geometric shapes
  (FKzShapeInstance, FKzSphere, FKzBox, etc.) with full editor integration and debug visualization.
• Generic transform systems
  (FKzTransformSource, FKzVectorAccumulator, FKzQuatAccumulator) for handling positions and orientations abstractly.
• Safe handle containers
  (THandleArray) that eliminate dangling references while maintaining constant-time access.
  • THandleArray is designed for large dynamic collections where elements can be created or destroyed at any time, providing O(1) insertion, removal, and access through stable handles.
• Kz::Geom — A collection of lightweight geometric utilities for spheres, boxes, capsules, cylinders, and more. Provides bounds computation, closest-point queries, intersection tests, and distance helpers.
• Kz::Raycast — Fast mathematical raycasts against primitive shapes. Completely independent from the Unreal Engine collision system and suitable for custom physics pipelines.
• Kz::GJK — Modern implementation of the GJK algorithm used for convex collision detection, minimal distance queries, and penetration depth/normal extraction.
• Kz::TOctree — A generic, high-performance templated octree supporting multi-node storage, dynamic depth/looseness control, and fast spatial queries. Integrates naturally with Kz::Raycast and Kz::Geom for broadphase+narrowphase workflows.
• Full Blueprint integration, including automatic conversions and debug utilities.
• Open-source, actively maintained, and steadily evolving with new tools and utilities.

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Usage Examples

Creating a generic shape

FKzShapeInstance Capsule = FKzShapeInstance::Make<FKzCapsule>(Radius, HalfHeight);
FKzShapeInstance Box = FKzShapeInstance::Make(FKzBox(HalfSize));

Performing a capsuple intersects point test

#include "Math/Geometry/KzGeometry.h

bool bIntersects = Kz::Geom::CapsuleIntersectsPoint(Center, FQuat::Identity, Radius, HalfHeight, SomePoint);

Raycasting

#include "Collision/KzGeometry.h

bool bHit = Kz::Raycast::Box(Hit, Center, HalfSize, RayStart, RayDir, MaxDist);

Using GJK intersection test

#include "Collision/KzGJK.h

FKzShapeInstance ShapeA = ...;
FKzShapeInstance ShapeB = ...;

bool bIntersection = Kz::GJK::Intersect(ShapeA, PositionA, RotationA, ShapeB, PositionB, RotationB);

Building and querying an octree

#include "Spatial/KzOctree.h

Kz::TOctree<FMyElement, FMySemantics> Octree;
Octree.Build(MyElements);

FKzShapeInstance Shape = ...;

TArray<FMyElement> OutElements;
bool bFoundSome = Octree.Query(OutElements, Shape, Position, Orientation);

Using a transform source (in Blueprint or C++):

FKzTransformSource Anchor(SomeActor);
FVector Location = Anchor.GetLocation();
FQuat Rotation = Anchor.GetQuat();

Safe handle container example:

THandleArray<FMyType, FMyHandle> Registry;
FMyHandle Handle = Registry.Add(FMyType());
Registry.Remove(Handle); // No dangling references

Using vector and quat accumulators:

FKzVectorAccumulator VecAvg;
FKzQuatAccumulator QuatAvg;

for (const FMyType& Elem : SomeArray)
{
	if (!SomeCondition(Elem))
	{
		continue;
	}

	VecAvg += Elem.Position;
	QuatAvg += Elem.Orientation;
}

if (!QuatAvg.IsValid())
{
	continue;
}

const FVector TargetPosition = VecAvg;
const FQuat TargetRotation = QuatAvg;