diff --git a/scripts/format_cpp.sh b/scripts/format_cpp.sh
new file mode 100755
index 00000000..10d4dec1
--- /dev/null
+++ b/scripts/format_cpp.sh
@@ -0,0 +1,105 @@
+#!/bin/bash
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
+
+source "$SCRIPT_DIR/lib/log.sh"
+
+DEFAULT_DIRS=("lib" "examples")
+
+if ! command -v uncrustify &> /dev/null; then
+    error "uncrustify is not installed or not in PATH."
+    exit 1
+fi
+
+print_usage() {
+    echo "Usage: $0 [check|apply] [paths...]"
+    echo ""
+    echo "Commands:"
+    echo "  check   Verify that files are correctly formatted (used in CI)."
+    echo "  apply   Apply formatting to files in place."
+    echo ""
+    echo "If no paths are provided, it defaults to: ${DEFAULT_DIRS[*]}"
+}
+
+get_filenames() {
+    local search_paths=("$@")
+    if [ ${#search_paths[@]} -eq 0 ]; then
+        search_paths=("${DEFAULT_DIRS[@]}")
+    fi
+
+    local final_paths=()
+    for path in "${search_paths[@]}"; do
+        if [[ ! -e "$path" && -e "$PROJECT_ROOT/$path" ]]; then
+            final_paths+=("$PROJECT_ROOT/$path")
+        elif [[ -e "$path" ]]; then
+            final_paths+=("$path")
+        else
+            warn "Skipping non-existing path $path"
+        fi
+    done
+
+    local filenames=()
+    for path in "${final_paths[@]}"; do
+        while IFS= read -r -d '' filename; do
+            filenames+=("$filename")
+        done < <(find "$path" -name '*.cc' -print0)
+    done
+    echo "${filenames[@]}"
+}
+
+check_format() {
+    local filenames
+    filenames=$(get_filenames "$@")
+
+    step "Checking C++ formatting"
+    local total_files=0
+    local bad_files=0
+    for filename in $filenames; do
+        info "Checking $filename ..."
+        total_files=$((total_files + 1))
+        if uncrustify -c "$PROJECT_ROOT/uncrustify.cfg" --check "$filename"; then
+            info "OK"
+        else
+            bad_files=$((bad_files + 1))
+            warn "format not ok"
+            diff -u "$filename" <(uncrustify -c "$PROJECT_ROOT/uncrustify.cfg" -f "$filename")
+        fi
+    done
+
+    if [ $bad_files -gt 0 ]; then
+        error "${bad_files} out of ${total_files} C++ files are not correctly formatted. Run '$0 apply' to fix."
+        return 1
+    else
+        success "All ${total_files} C++ files are correctly formatted."
+        return 0
+    fi
+}
+
+apply_format() {
+    local filenames
+    filenames=$(get_filenames "$@")
+
+    step "Applying C++ formatting"
+    for filename in $filenames; do
+        info "Formatting $filename"
+        uncrustify -c "$PROJECT_ROOT/uncrustify.cfg" --replace --no-backup "$filename"
+    done
+    success "Formatting applied."
+}
+
+# Main execution logic
+case "$1" in
+    check)
+        shift
+        check_format "$@"
+        ;;
+    apply)
+        shift
+        apply_format "$@"
+        ;;
+    *)
+        print_usage
+        exit 1
+        ;;
+esac