Improved pathfinding logic

2026-05-21 11:48:18 +03:00
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+# Pathfinding System
+
+This document describes the grid-based pathfinding used for the player and all NPCs, including the collision avoidance and movement quality improvements.
+
+---
+
+## Table of Contents
+
+1. [Grid Representation](#1-grid-representation)
+2. [Building the Walkable Grid](#2-building-the-walkable-grid)
+3. [A\* Path Search](#3-a-path-search)
+4. [Path Smoothing](#4-path-smoothing)
+5. [Approaching Unreachable Destinations](#5-approaching-unreachable-destinations)
+6. [Dynamic Obstacles](#6-dynamic-obstacles)
+7. [Path Following](#7-path-following)
+8. [Character Collision Resolution](#8-character-collision-resolution)
+9. [Dynamic Replanning](#9-dynamic-replanning)
+10. [Key Constants Reference](#10-key-constants-reference)
+
+---
+
+## 1. Grid Representation
+
+The world is divided into a uniform 2D grid in the XZ plane (Y is ignored during pathfinding; all characters walk on a flat floor at `floorY`).
+
+Each cell is either **walkable** (`1`) or **blocked** (`0`). The grid is stored as a flat `std::vector<unsigned char>` indexed by `z * gridWidth + x`.
+
+**Parameters** (all configurable in the JSON config file):
+
+| Parameter | Default | Description |
+|---|---|---|
+| `cellSize` | 0.4 m | Width and depth of one cell |
+| `agentRadius` | 0.45 m | Half-width of a character — used to erode free space |
+| `objectPadding` | 0.25 m | Extra clearance added around obstacle polygons |
+| `boundaryPadding` | 0.0 m | Inward erosion from the edges of navigation areas |
+| `floorY` | 0.0 | Y coordinate placed on every path waypoint |
+
+**Grid bounds** are computed from the union of all navigation area polygons plus a padding margin of `cellSize * 2 + agentRadius + objectPadding` on every side.
+
+**Cell coordinate conversion:**
+
+```
+cell.x = floor((worldX - minX) / cellSize)
+cell.z = floor((worldZ - minZ) / cellSize)
+
+cellCenter.x = minX + (cell.x + 0.5) * cellSize
+cellCenter.z = minZ + (cell.z + 0.5) * cellSize
+```
+
+---
+
+## 2. Building the Walkable Grid
+
+The grid can be loaded in two ways.
+
+### 2a. Pre-computed grid (`.txt` file)
+
+A plain-text file with a small header followed by rows of `1`/`0` characters:
+
+```
+cellSize 0.4
+agentRadius 0.45
+floorY 0.0
+...
+minX -5.0
+minZ -5.0
+gridWidth 50
+gridDepth 50
+11111111...
+10000001...
+```
+
+This format is generated by `PathFinder::saveGrid()` after building from polygons and can be loaded much faster than recomputing from geometry.
+
+### 2b. Polygon-based config (`.json` file)
+
+The JSON file lists **navigation areas** (convex or concave walkable regions) and **obstacle polygons** (impassable zones within those regions):
+
+```json
+{
+  "cellSize": 0.4,
+  "areas": [
+    { "name": "main_room", "available": true, "polygon": [[x,z], ...] }
+  ],
+  "obstacles": [
+    { "name": "table", "polygon": [[x,z], ...] }
+  ]
+}
+```
+
+**Build steps:**
+
+1. **Mark available areas walkable** — every cell whose center lies inside any `available` navigation area polygon gets `walkable = 1`. If `boundaryPadding > 0`, cells too close to the outer edge of the area are left blocked.
+2. **Mark obstacle polygons blocked** — cells whose center lies inside an obstacle polygon, or within `agentRadius + objectPadding` of its edges, are set to `0`.
+
+Navigation areas can be toggled at runtime via `PathFinder::setAreaAvailable()`, which rebuilds the entire grid. This is used to open or close doors, gated areas, etc.
+
+---
+
+## 3. A\* Path Search
+
+`PathFinder::findPath(start, end)` runs a standard A\* on the walkable grid.
+
+**Neighbor connectivity:** 8-directional (cardinal + diagonal). Diagonal moves are blocked if either of the two adjacent cardinal cells is unwalkable (no corner-cutting).
+
+**Step costs:** `1.0` for cardinal, `√2 ≈ 1.414` for diagonal.
+
+**Heuristic:** Euclidean distance in cell units to the end cell.
+
+**Start/end snapping:** If the exact cell for `start` or `end` is not walkable, `findNearestWalkableCell` expands a square ring outward (up to radius 8 m) to find the nearest walkable cell. This makes clicking slightly outside the nav mesh still produce a valid path.
+
+**Path reconstruction:** After A\* completes, the cell chain is walked via `cameFrom[]` from `end` back to `start`, reversed, then smoothed (see §4).
+
+**First-waypoint trimming:** If the first waypoint is within `cellSize × 0.75` of `start`, it is dropped (the character is already close enough).
+
+**Last-waypoint precision:** If the requested `end` maps to the same cell as the snapped end cell, the last waypoint is replaced with the exact `end` world position rather than the cell centre.
+
+---
+
+## 4. Path Smoothing
+
+Raw A\* paths follow the grid diagonals and produce staircase-shaped routes. A **string-pulling** (line-of-sight) pass compresses them:
+
+```
+anchor = path[0]
+result = [anchor]
+while anchor is not the last cell:
+    find the furthest cell 'next' from anchor with unobstructed line of sight
+    result.append(next)
+    anchor = next
+```
+
+Line-of-sight is checked by stepping along the segment in increments of `cellSize / 2` and verifying that each sampled cell is walkable. The result is a minimal set of waypoints connected by straight, obstacle-free segments.
+
+---
+
+## 5. Approaching Unreachable Destinations
+
+When a player clicks on a point in a disconnected region (e.g., across a thin wall), the original `findPath` returns an empty path and the character does not move. This is surprising — a click on a solid wall sensibly moves the character to the nearest reachable point, but a click into an inaccessible room does nothing.
+
+**`findPathToNearest`** fixes this with a three-step cascade:
+
+1. Try `findPath` with dynamic obstacles (stationary characters are avoided).
+2. If empty, retry `findPath` without dynamic obstacles (an NPC blocking a doorway is ignored).
+3. If still empty (destination genuinely unreachable), run **nearest-reachable A\***.
+
+**Nearest-reachable A\***, implemented in `findNearestReachableImpl`:
+
+- Runs the identical A\* loop against the static walkable grid.
+- While processing cells, tracks `bestIndex` — the already-visited cell with the smallest Euclidean distance (in cell units) to the end cell.
+- If A\* exhausts all reachable space without finding `end`, it reconstructs and returns a path to `bestIndex`.
+- If `bestIndex` is still the start cell (character is completely isolated), an empty path is returned and the character stays put.
+
+The net effect: clicking anywhere in the world always moves the character as close as possible to the target, matching the behaviour of clicking on a solid wall.
+
+`findPathToNearest` replaces the direct `findPath` call in `Location::setupNavigation`'s path planner lambda, so it applies equally to the player and all NPCs.
+
+---
+
+## 6. Dynamic Obstacles
+
+When a path is planned, other characters can temporarily mark cells as blocked to make the character walk around them rather than through them.
+
+**How it works:**
+
+In `Location::setupNavigation`, every character is given a `PathPlanner` closure. Before calling `findPath`, the closure builds a list of `PathFinder::DynamicObstacle` entries (position + radius) representing nearby characters. `findPath` copies the static walkable grid, stamps zeros in circles around each obstacle, then runs A\* on the modified copy. The static grid is never mutated.
+
+**Which characters become obstacles:**
+
+A character is added as a dynamic obstacle only when **all** of these are true:
+
+- It is not the character currently planning the path (`self`).
+- It is alive and enabled.
+- **It is not moving** — a moving character is transparent to pathfinding, so it does not block narrow corridors that it is actively passing through.
+- Its position lies within `kDynamicObstacleInfluenceDist = 6 m` of the direct line segment from `start` to `end` (distant characters do not affect the search).
+
+**Obstacle radius:** `character.collisionRadius × 0.6`. Using 60 % of the physical collision radius makes path planning less conservative; physical separation at full radius is still enforced by collision resolution (§8).
+
+**Fallback when dynamic obstacles block the only path:**
+
+If step 1 of `findPathToNearest` (with dynamic obstacles) returns empty, step 2 retries without any dynamic obstacles. This handles the common case of an NPC standing in a doorway: the player paths through the NPC's position, and the nudge logic (§8) pushes the NPC aside as the player passes.
+
+---
+
+## 7. Path Following
+
+`Character::setTarget(destination, onArrived)` sets a new walk target. It calls the path planner to generate a waypoint list. The result is stored in `pathWaypoints`; the final destination is also stored in `walkTarget` and `requestedWalkTarget`.
+
+Each frame in `Character::update`:
+
+1. **Active target** — if `pathWaypoints` is non-empty, the character moves toward `pathWaypoints[currentWaypointIndex]`; otherwise it moves toward `walkTarget`.
+2. **Movement** — the character advances along the XZ direction at `walkSpeed` m/s and rotates smoothly toward the movement direction at `rotationSpeed` rad/s.
+3. **Waypoint advance** — when the character is within `WALK_THRESHOLD = 0.05 m` of the current waypoint, it advances to the next one. When the last waypoint is reached, `pathWaypoints` is cleared and the optional `onArrived` callback is fired.
+4. **State machine** — the animation state switches between `STAND` and `WALK` based on whether the character is moving.
+
+`Character::isMoving()` returns `true` if `pathWaypoints` is non-empty or the distance to `walkTarget` exceeds `WALK_THRESHOLD`. This is used by dynamic obstacle filtering and collision nudging.
+
+**Stopping in place:** `Character::stopInPlace()` sets `walkTarget` and `requestedWalkTarget` to the current position and clears `pathWaypoints`. It is called when an external force (collision resolution) displaces a stationary player so that the player does not walk back to their previous target position.
+
+---
+
+## 8. Character Collision Resolution
+
+Pathfinding alone does not prevent two characters from occupying the same space — it only steers paths around stationary characters. Physical separation is handled separately each frame by `Location::resolveCharacterCollisions`.
+
+**Algorithm** (3 iterations per frame):
+
+For every pair `(A, B)` of living, enabled characters:
+
+1. Compute the overlap: `penetration = (collisionRadius_A + collisionRadius_B) - distance(A, B)`.
+2. If `penetration > 0`, compute a push direction (A-to-B normal) and a push magnitude of `penetration / 2` per character.
+3. Compute candidate new positions `newA` and `newB`.
+4. Validate against the navigation grid (`PathFinder::isWalkable`). If a pushed position is unwalkable, only the other character is moved.
+5. **Player stays put:** if the player was not moving (`!isMoving()`) before the push, `stopInPlace()` is called after the push so the player does not walk back to the old target.
+6. **NPC yielding:** if one character was moving and the other was standing, `nudgeCharacterAside` is called on the standing character.
+
+**`nudgeCharacterAside(standing, awayFrom)`:**
+
+Gives the standing NPC a short walk target so it steps out of the way:
+
+1. Compute the direction from `awayFrom` to the NPC's current position.
+2. Try four candidate targets at distance `1.2 m` in directions: straight away, +90°, −90°, 180°.
+3. Use the first candidate that is walkable (per `PathFinder::isWalkable`).
+4. Call `standing->setTarget(candidate)` — the NPC takes a small step aside, then stands at the new spot.
+5. The player is never nudged; combat NPCs can be nudged, but their attack AI immediately overrides the yield target on the next tick.
+
+---
+
+## 9. Dynamic Replanning
+
+When characters move they can displace each other or enter each other's planned paths. `Location::updateDynamicReplans` handles this:
+
+**Every frame:**
+
+1. Measure how much each character moved since the last frame. Characters that moved more than `kMovedEps = 0.05 m` are collected as **movers**.
+2. For each mover, find other characters that are currently walking. If the mover's position is within `kReplanTriggerDist = 1.8 m` of the segment `[walker.position → walker.nextWaypoint]`, trigger a replan for the walker via `forceReplan()`.
+3. A per-character cooldown of `kReplanCooldownMs = 500 ms` prevents the same character from replanning more often than twice per second.
+
+**`Character::forceReplan()`** re-runs the path planner from the character's current position to its stored `requestedWalkTarget`, updating `pathWaypoints` in place. If the replanned path is empty, the character stops at its current position.
+
+The relatively generous trigger distance (1.8 m vs the old 1.1 m) and cooldown (500 ms vs 300 ms) prevent micro-jitter: small position corrections from collision resolution no longer spam replanning events.
+
+---
+
+## 10. Key Constants Reference
+
+| Constant | Location | Value | Description |
+|---|---|---|---|
+| `cellSize` | `PathFinder` config | 0.4 m | Grid cell size |
+| `agentRadius` | `PathFinder` config | 0.45 m | Character half-width for grid erosion |
+| `objectPadding` | `PathFinder` config | 0.25 m | Extra clearance around obstacles |
+| `WALK_THRESHOLD` | `Character.h` | 0.05 m | Distance below which a waypoint is considered reached |
+| `TARGET_REPLAN_THRESHOLD` | `Character.h` | 0.25 m | Deduplication threshold in `setTarget` |
+| `kDynamicObstacleInfluenceDist` | `Location.cpp` | 6.0 m | Max distance from path for a character to become an obstacle |
+| `kDynamicObstacleRadiusFraction` | `Location.cpp` | 0.6× | Fraction of collision radius used for dynamic obstacle footprint |
+| `kNudgeDist` | `Location.cpp` | 1.2 m | Distance an NPC steps aside when yielding |
+| `kReplanTriggerDist` | `Location.cpp` | 1.8 m | Mover must be this close to a walker's path to trigger replan |
+| `kReplanCooldownMs` | `Location.cpp` | 500 ms | Minimum interval between replans for any one character |
+| `NPC_TALK_DISTANCE` | `Location.cpp` | 1.35 m | Distance at which walking-to-NPC interaction fires |
+| `kIterations` (collision) | `Location.cpp` | 3 | Push-apart iterations per frame |
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-        "interactive": false
-      },
-	  {
-        "name": "tree007",
-        "texturePath": "resources/w/exterior/tree001.png",
-        "meshPath": "resources/w/exterior/tree003.txt",
-        "rotationX": 0.0,
-        "rotationY": -1.5707963267948966,
-        "rotationZ": 0.0,
-        "positionX": 14.5936,
-        "positionY": 0.0,
-        "positionZ": 5.3401,
-        "scale": 1.0,
-        "interactive": false
-      },
-	  {
-        "name": "tree008",
-        "texturePath": "resources/w/exterior/tree001.png",
-        "meshPath": "resources/w/exterior/tree003.txt",
-        "rotationX": 0.0,
-        "rotationY": 1.5707963267948966,
-        "rotationZ": 0.0,
-        "positionX": 23.9295,
-        "positionY": 0.0,
-        "positionZ": 9.00583,
-        "scale": 1.0,
-        "interactive": false
-      },
-	  {
-        "name": "tree009",
-        "texturePath": "resources/w/exterior/tree001.png",
-        "meshPath": "resources/w/exterior/tree003.txt",
-        "rotationX": 0.0,
-        "rotationY": 0.0,
-        "rotationZ": 0.0,
-        "positionX": 29.8128,
-        "positionY": 0.0,
-        "positionZ": -1.45278,
-        "scale": 1.0,
-        "interactive": false
-      },
-	  {
-        "name": "tree010",
-        "texturePath": "resources/w/exterior/tree001.png",
-        "meshPath": "resources/w/exterior/tree003.txt",
-        "rotationX": 0.0,
-        "rotationY": -1.5707963267948966,
-        "rotationZ": 0.0,
-        "positionX": 33.1771,
-        "positionY": 0.0,
-        "positionZ": 14.609,
-        "scale": 1.0,
-        "interactive": false
-      }
-    ]
-  }
@@ -47,7 +47,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": -1.5707963267948966,
+        "rotationY": -90,
        "rotationZ": 0.0,
        "positionX": 10.0,
        "positionY": 0.0,
@@ -60,7 +60,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": 1.5707963267948966,
+        "rotationY": 90,
        "rotationZ": 0.0,
        "positionX": -12,
        "positionY": 0.0,
@@ -86,7 +86,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": -1.5707963267948966,
+        "rotationY": -90,
        "rotationZ": 0.0,
        "positionX": -12.0,
        "positionY": 0.0,
@@ -99,7 +99,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": 1.5707963267948966,
+        "rotationY": 90,
        "rotationZ": 0.0,
        "positionX": -12.0,
        "positionY": 0.0,
@@ -125,7 +125,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": -1.5707963267948966,
+        "rotationY": -90,
        "rotationZ": 0.0,
        "positionX": 14.5936,
        "positionY": 0.0,
@@ -138,7 +138,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": 1.5707963267948966,
+        "rotationY": 90,
        "rotationZ": 0.0,
        "positionX": 23.9295,
        "positionY": 0.0,
@@ -164,7 +164,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": -1.5707963267948966,
+        "rotationY": -90,
        "rotationZ": 0.0,
        "positionX": 33.1771,
        "positionY": 0.0,
@@ -105,7 +105,7 @@
        "texturePath": "resources/w/interior/doors_tex001.png",
        "meshPath": "resources/w/interior/outputRoom_N_0_Leaf001.txt",
        "rotationX": 0.0,
-        "rotationY": 1.5708,
+        "rotationY": 90,
        "rotationZ": 0.0,
        "positionX": 1.5,
        "positionY": 0.975,
@@ -117,7 +117,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": -1.5707963267948966,
+        "rotationY": -90,
        "rotationZ": 0.0,
        "positionX": 10.0,
        "positionY": -5.0,
@@ -129,7 +129,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": 1.5707963267948966,
+        "rotationY": 90,
        "rotationZ": 0.0,
        "positionX": -12,
        "positionY": -5.0,
@@ -153,7 +153,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": -1.5707963267948966,
+        "rotationY": -90,
        "rotationZ": 0.0,
        "positionX": -12.0,
        "positionY": -5.0,
@@ -165,7 +165,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": 1.5707963267948966,
+        "rotationY": 90,
        "rotationZ": 0.0,
        "positionX": -12.0,
        "positionY": -5.0,
@@ -189,7 +189,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": -1.5707963267948966,
+        "rotationY": -90,
        "rotationZ": 0.0,
        "positionX": 14.5936,
        "positionY": -5.0,
@@ -201,7 +201,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": 1.5707963267948966,
+        "rotationY": 90,
        "rotationZ": 0.0,
        "positionX": 23.9295,
        "positionY": -5.0,
@@ -225,7 +225,7 @@
        "texturePath": "resources/w/exterior/tree001.png",
        "meshPath": "resources/w/exterior/tree003.txt",
        "rotationX": 0.0,
-        "rotationY": -1.5707963267948966,
+        "rotationY": -90,
        "rotationZ": 0.0,
        "positionX": 33.1771,
        "positionY": -5.0,
@@ -30,8 +30,8 @@
    },
    {
      "name": "Computer001",
-      "texturePath": "resources/w/interior/computer_texture001.png",
-      "meshPath": "resources/w/interior/computer001_003.txt",
+      "texturePath": "resources/w/interior/computer_texture002.png",
+      "meshPath": "resources/w/interior/computer001_004.txt",
      "rotationX": 0.0,
      "rotationY": 0.0,
      "rotationZ": 0.0,
@@ -1,99 +0,0 @@
-{
-    "npcs": [
-      {
-        "id": "npc_04_ghost",
-        "name": "Беспокойный Призрак",
-        "texturePath": "resources/w/ghost_skin001.png",
-        "animationIdlePath": "resources/w/default_float001.anim",
-        "animationWalkPath": "resources/w/default_float001.anim",
-        "positionX": -0.28594,
-        "positionY": 0,
-        "positionZ": 13.9641,
-        "walkSpeed": 1.5,
-        "rotationSpeed": 8.0,
-        "modelScale": 0.01,
-        "modelCorrectionRotX": 0.0,
-        "modelCorrectionRotY": 180.0,
-        "modelCorrectionRotZ": 0.0,
-        "interactionRadius": 1.0,
-        "gift": {
-          "id": "ghost_essence",
-          "name": "Ghost's Essence",
-          "description": "A mysterious essence from the Ghost realm",
-          "icon": "resources/w/red.png"
-        }
-      },
-      {
-        "id": "ghost_01x",
-        "name": "Опасный Призрак",
-        "texturePath": "resources/w/ghost_skin002.png",
-        "animationIdlePath": "resources/w/default_float001.anim",
-        "animationWalkPath": "resources/w/default_float001.anim",
-        "animationActionIdlePath": "resources/w/float_attack003_cut.anim",
-        "animationActionAttackPath": "resources/w/float_attack003.anim",
-        "animationStandToActionPath": "resources/w/default_float001_cut.anim",
-        "animationActionToStandPath": "resources/w/default_float001_cut.anim",
-        "animationActionToDeathPath": "resources/w/default_float001_cut.anim",
-        "animationDeathIdlePath": "resources/w/default_float001_cut.anim",
-        "positionX": 4.09561,
-        "positionY": 0.0,
-        "positionZ": 6.28458,
-        "walkSpeed": 1.5,
-        "rotationSpeed": 8.0,
-        "modelScale": 0.01,
-        "modelCorrectionRotX": 0.0,
-        "modelCorrectionRotY": 180.0,
-        "modelCorrectionRotZ": 0.0,
-        "hp": 35,
-        "canAttack": true
-      },
-	  {
-        "id": "ghost_02x",
-        "name": "Злой призрак",
-        "texturePath": "resources/w/ghost_skin002.png",
-        "animationIdlePath": "resources/w/default_float001.anim",
-        "animationWalkPath": "resources/w/default_float001.anim",
-        "animationActionIdlePath": "resources/w/float_attack003_cut.anim",
-        "animationActionAttackPath": "resources/w/float_attack003.anim",
-        "animationStandToActionPath": "resources/w/default_float001_cut.anim",
-        "animationActionToStandPath": "resources/w/default_float001_cut.anim",
-        "animationActionToDeathPath": "resources/w/default_float001_cut.anim",
-        "animationDeathIdlePath": "resources/w/default_float001_cut.anim",
-        "positionX": -4.95651,
-        "positionY": 0.0,
-        "positionZ": 5.81422,
-        "walkSpeed": 1.5,
-        "rotationSpeed": 8.0,
-        "modelScale": 0.01,
-        "modelCorrectionRotX": 0.0,
-        "modelCorrectionRotY": 180.0,
-        "modelCorrectionRotZ": 0.0,
-        "hp": 25,
-        "canAttack": true
-      },
-	  {
-        "id": "ghost_02x",
-        "name": "Злой дух",
-        "texturePath": "resources/w/ghost_skin002.png",
-        "animationIdlePath": "resources/w/default_float001.anim",
-        "animationWalkPath": "resources/w/default_float001.anim",
-        "animationActionIdlePath": "resources/w/float_attack003_cut.anim",
-        "animationActionAttackPath": "resources/w/float_attack003.anim",
-        "animationStandToActionPath": "resources/w/default_float001_cut.anim",
-        "animationActionToStandPath": "resources/w/default_float001_cut.anim",
-        "animationActionToDeathPath": "resources/w/default_float001_cut.anim",
-        "animationDeathIdlePath": "resources/w/default_float001_cut.anim",
-        "positionX": 0,
-        "positionY": 0.0,
-        "positionZ": 10,
-        "walkSpeed": 1.5,
-        "rotationSpeed": 8.0,
-        "modelScale": 0.01,
-        "modelCorrectionRotX": 0.0,
-        "modelCorrectionRotY": 180.0,
-        "modelCorrectionRotZ": 0.0,
-        "hp": 15,
-        "canAttack": true
-      }
-    ]
-  }
@@ -1,125 +0,0 @@
-{
-    "npcs": [
-      {
-        "id": "npc_01_default",
-        "name": "Студент",
-        "animationIdlePath": "resources/w/jam/man_stand_idle002.anim",
-		  "animationWalkPath": "resources/w/jam/man_walk002.anim",
-		  "meshTextures": {
-			"Body":      "resources/w/jam/male_packed0_diffuse.png",
-			"Bottoms":   "resources/w/jam/male_packed1_diffuse.png",
-			"Eyelashes": "resources/w/jam/male_packed0_diffuse.png",
-			"Eyes":      "resources/w/jam/male_packed0_diffuse.png",
-			"Eyewear":   "resources/w/jam/male_packed0_diffuse.png",
-			"Gloves":    "resources/w/jam/male_packed1_diffuse.png",
-			"Hair":      "resources/w/jam/male_packed0_diffuse.png",
-			"Shoes":     "resources/w/jam/male_packed1_diffuse.png",
-			"Tops":      "resources/w/jam/male_packed2_diffuse.png"
-		  },
-        "positionX": 2.95,
-        "positionY": 0.0,
-        "positionZ": 16.65,
-		"facingAngle" : 3.141592,
-        "walkSpeed": 1.5,
-        "rotationSpeed": 8.0,
-        "modelScale": 0.0001,
-        "modelCorrectionRotX": 0.0,
-        "modelCorrectionRotY": 180.0,
-        "modelCorrectionRotZ": 0.0,
-        "interactionRadius": 2.0,
-        "gift": {
-          "id": "guard_token",
-          "name": "Guard's Token",
-          "description": "A token from the Guard - sign of respect",
-          "icon": "resources/w/red.png"
-        }
-      },
-	  {
-        "id": "npc_02_woman",
-        "name": "Студентка",
-        "animationIdlePath": "resources/w/girl/girl_walk001.txt",
-		  "animationWalkPath": "resources/w/girl/girl_walk001.txt",
-		  "meshTextures": {
-			"polySurface1":      "resources/w/girl/Chat_02_diff_1.png"
-		  },
-        "positionX": 19.5,
-        "positionY": 0.0,
-        "positionZ": 32.0,
-		"facingAngle" : 3.141592,
-        "walkSpeed": 1.5,
-        "rotationSpeed": 8.0,
-        "modelScale": 0.01,
-        "modelCorrectionRotX": 0.0,
-        "modelCorrectionRotY": 180.0,
-        "modelCorrectionRotZ": 0.0,
-        "interactionRadius": 2.0
-      },
-	  {
-        "id": "npc_03_salesman",
-        "name": "Мухтар Байке",
-        "animationIdlePath": "resources/w/jam/salesperson_stand_idle003.anim",
-		  "animationWalkPath": "resources/w/jam/salesperson_walk001.anim",
-		  "meshTextures": {
-			"Body":      "resources/w/jam/Salesperson_packed0_diffuse.png",
-			"Bottoms":   "resources/w/jam/Salesperson_packed2_diffuse.png",
-			"Eyelashes": "resources/w/jam/Salesperson_packed0_diffuse.png",
-			"Eyes":      "resources/w/jam/Salesperson_packed0_diffuse.png",
-			"Hats":      "resources/w/jam/Salesperson_packed1_diffuse.png",
-			"Mustashes": "resources/w/jam/Salesperson_packed1_diffuse.png",
-			"Shoes":     "resources/w/jam/Salesperson_packed1_diffuse.png",
-			"Tops":      "resources/w/jam/Salesperson_packed1_diffuse.png"
-		  },
-        "positionX": -1.94774,
-        "positionY": 0.0,
-        "positionZ": 16.2712,
-		"facingAngle" : 3.141592,
-        "walkSpeed": 1.5,
-        "rotationSpeed": 8.0,
-        "modelScale": 0.001,
-        "modelCorrectionRotX": 0.0,
-        "modelCorrectionRotY": 180.0,
-        "modelCorrectionRotZ": 0.0,
-        "interactionRadius": 2.0
-      },
-	  {
-        "id": "npc_teacher",
-        "name": "Аида Токтоналы",
-        "animationIdlePath": "resources/w/new_anims/teacher_stand_idle001.txt",
-		  "animationWalkPath": "resources/w/new_anims/woman_walk4_001.txt",
-		  "meshTextures": {
-			"Teacher_lowpoly":      "resources/w/new_anims/UniV_Grid_2K.001_Base_color.png"
-		  },
-        "positionX": -3.76765,
-        "positionY": 0.0,
-        "positionZ": -21.8495,
-		"facingAngle" : 0,
-        "walkSpeed": 1.3,
-        "rotationSpeed": 8.0,
-        "modelScale": 1.0,
-        "modelCorrectionRotX": -90.0,
-        "modelCorrectionRotY": 180.0,
-        "modelCorrectionRotZ": 0.0,
-        "interactionRadius": 2.0
-      },
-	  {
-        "id": "npc_teacher02",
-        "name": "Асель Дженибековна",
-        "animationIdlePath": "resources/w/new_anims/teacher_stand_idle001.txt",
-		  "animationWalkPath": "resources/w/new_anims/woman_walk4_001.txt",
-		  "meshTextures": {
-			"Teacher_lowpoly":      "resources/w/new_anims/UniV_Grid_2K.001_Base_color.png"
-		  },
-        "positionX": 12.7499,
-        "positionY": 0.0,
-        "positionZ": -20.8708,
-		"facingAngle" : 0,
-        "walkSpeed": 1.3,
-        "rotationSpeed": 8.0,
-        "modelScale": 1.0,
-        "modelCorrectionRotX": -90.0,
-        "modelCorrectionRotY": 180.0,
-        "modelCorrectionRotZ": 0.0,
-        "interactionRadius": 2.0
-      }
-    ]
-  }
@@ -3,19 +3,19 @@
      {
        "id": "npc_01_woman",
        "name": "Бермет",
-        "animationIdlePath": "resources/w/girl/girl_idle001.txt",
-		  "animationWalkPath": "resources/w/girl/girl_walk010.txt",
+        "animationIdlePath": "resources/w/girlfriend/girlfriend_idle003.txt",
+		  "animationWalkPath": "resources/w/girlfriend/girlfriend_walk003.txt",
 		  "meshTextures": {
-			"polySurface1":      "resources/w/girl/Chat_02_diff_1r006.png"
+			"Girl_Low":      "resources/w/girlfriend/Girl_Base_color.png"
 		  },
        "positionX": 1.03298,
        "positionY": 0.0,
        "positionZ": -4.61801,
-		"facingAngle" : 3.141592,
+		"facingAngle" : 180,
        "walkSpeed": 1.8,
        "rotationSpeed": 8.0,
-        "modelScale": 0.016,
-        "modelCorrectionRotX": 0.0,
+        "modelScale": 1.0,
+        "modelCorrectionRotX": -90.0,
        "modelCorrectionRotY": 180.0,
        "modelCorrectionRotZ": 0.0,
        "interactionRadius": 2.0
@@ -59,7 +59,7 @@
        "positionX": -6.33478,
        "positionY": 0.0,
        "positionZ": -15.0382,
-		"facingAngle" : 3.141592,
+		"facingAngle" : 180,
        "walkSpeed": 1.5,
        "rotationSpeed": 8.0,
        "modelScale": 0.0001,
@@ -14,7 +14,7 @@
        "walkSpeed": 1.3,
        "rotationSpeed": 8.0,
        "modelScale": 1.0,
-		"facingAngle" : 3.141592,
+		"facingAngle" : 180,
        "modelCorrectionRotX": -90.0,
        "modelCorrectionRotY": 180.0,
        "modelCorrectionRotZ": 0.0,
@@ -23,19 +23,19 @@
 	  {
        "id": "npc_02_woman",
        "name": "Айпери",
-        "animationIdlePath": "resources/w/girl/girl_idle001.txt",
-		  "animationWalkPath": "resources/w/girl/girl_walk002.txt",
+        "animationIdlePath": "resources/w/girlfriend/girlfriend_idle003.txt",
+		  "animationWalkPath": "resources/w/girlfriend/girlfriend_walk003.txt",
 		  "meshTextures": {
-			"polySurface1":      "resources/w/girl/Chat_02_diff_1r006.png"
+			"Girl_Low":      "resources/w/girlfriend/Girl_Base_color.png"
 		  },
        "positionX": 0.764049,
        "positionY": 0.0,
        "positionZ": -8.53475,
-		"facingAngle" : 3.141592,
+		"facingAngle" : 180,
        "walkSpeed": 1.66,
        "rotationSpeed": 8.0,
-        "modelScale": 0.016,
-        "modelCorrectionRotX": 0.0,
+        "modelScale": 1.0,
+        "modelCorrectionRotX": -90.0,
        "modelCorrectionRotY": 180.0,
        "modelCorrectionRotZ": 0.0,
        "interactionRadius": 2.0,
@@ -1,30 +0,0 @@
-{
-  "teleports": [
-    {
-      "id": "tp_loc2_to_loc1",
-      "positionX": 8.2,
-      "positionY": 0.0,
-      "positionZ": -9.9,
-      "radius": 1.5,
-      "active": true,
-      "destinationLocation": "uni_interior",
-      "destinationPositionX": 2.64621,
-      "destinationPositionY": 0.0,
-      "destinationPositionZ": -9.37259,
-      "destinationRotationY": -1.5708
-    },
-	{
-      "id": "tp_loc2_to_dorm",
-      "positionX": -21.7327,
-      "positionY": 0.0,
-      "positionZ": -34.1036,
-      "radius": 2.5,
-      "active": true,
-      "destinationLocation": "location_dorm",
-      "destinationPositionX": -8.32343,
-      "destinationPositionY": 0.0,
-      "destinationPositionZ": -0.152264,
-      "destinationRotationY": 1.5708
-    }
-  ]
-}
@@ -1,4 +0,0 @@
-{
-  "trigger_zones": [
-  ]
-}
@@ -34,7 +34,7 @@
 	  "positionZ": 6.17516,
      "radius": 2.0,
      "hysteresis": 0.1,
-      "enabled": false
+      "enabled": true
    }
  ]
 }
@@ -833,6 +833,132 @@
          "type": "End"
        }
      ]
+    },
+	{
+      "id": "book_dialog003",
+      "start": "line_1",
+      "nodes": [
+        {
+          "id": "line_1",
+          "type": "Line",
+          "speaker": "Бекзат",
+          "portrait": "resources/w/gg/gg2_s_podsvetkoy5.png",
+          "text": "Да, вот эта книга! Я возьму ее.",
+          "next": "end_1"
+        },
+        {
+          "id": "end_1",
+          "type": "End"
+        }
+      ]
+    },
+	{
+      "id": "book_dialog004",
+      "start": "line_1",
+      "nodes": [
+        {
+          "id": "line_1",
+          "type": "Line",
+          "speaker": "Бекзат",
+          "portrait": "resources/w/gg/gg2_s_podsvetkoy5.png",
+          "text": "Я вернул книгу на место.",
+          "next": "end_1"
+        },
+        {
+          "id": "end_1",
+          "type": "End"
+        }
+      ]
+    },
+	{
+      "id": "book_dialog005",
+      "start": "line_1",
+      "nodes": [
+        {
+          "id": "line_1",
+          "type": "Line",
+          "speaker": "Бекзат",
+          "portrait": "resources/w/gg/gg2_s_podsvetkoy5.png",
+          "text": "На этой полке лежат самые скучные книги в этом кабинете.",
+          "next": "end_1"
+        },
+        {
+          "id": "end_1",
+          "type": "End"
+        }
+      ]
+    },
+	{
+      "id": "book_dialog006",
+      "start": "line_1",
+      "nodes": [
+        {
+          "id": "line_1",
+          "type": "Line",
+          "speaker": "Бекзат",
+          "portrait": "resources/w/gg/gg2_s_podsvetkoy5.png",
+          "text": "Я надеюсь, мне эта книга больше не пригодится.",
+          "next": "end_1"
+        },
+        {
+          "id": "end_1",
+          "type": "End"
+        }
+      ]
+    },
+	{
+      "id": "computer_dialog001",
+      "start": "line_1",
+      "nodes": [
+        {
+          "id": "line_1",
+          "type": "Line",
+          "speaker": "Бекзат",
+          "portrait": "resources/w/gg/gg2_s_podsvetkoy5.png",
+          "text": "Это старый библиотечный компьютер, он даже не подключен к интернету.",
+          "next": "end_1"
+        },
+        {
+          "id": "end_1",
+          "type": "End"
+        }
+      ]
+    },
+	{
+      "id": "computer_dialog002",
+      "start": "line_1",
+      "nodes": [
+        {
+          "id": "line_1",
+          "type": "Line",
+          "speaker": "Бекзат",
+          "portrait": "resources/w/gg/gg2_s_podsvetkoy5.png",
+          "text": "От этого компьютера сейчас не будет никакого толку.",
+          "next": "end_1"
+        },
+        {
+          "id": "end_1",
+          "type": "End"
+        }
+      ]
+    },
+	{
+      "id": "computer_dialog003",
+      "start": "line_1",
+      "nodes": [
+        {
+          "id": "line_1",
+          "type": "Line",
+          "speaker": "Бекзат",
+          "portrait": "resources/w/gg/gg2_s_podsvetkoy5.png",
+          "text": "Надеюсь мне больше не придется притрагиваться к этому компьютеру.",
+          "next": "end_1"
+        },
+        {
+          "id": "end_1",
+          "type": "End"
+        }
+      ]
    },
 	{
      "id": "dialog_report_card001",
@@ -936,7 +1062,9 @@
    },
    {
      "id": "test_cutscene_02",
-      "background": "resources/test_cutscene001.png",
+      "background": "resources/black.png",
+	  "backgroundWidth" : 1280,
+	  "backgroundHeight" : 720,
      "durationMs": 5000,
 	  "fadeOutMs": 500,
 	  "fadeInMs": 500,
@@ -980,7 +1108,9 @@
    },
 	{
      "id": "darklands_exit001",
-      "background": "resources/test_cutscene001.png",
+      "background": "resources/black.png",
+	  "backgroundWidth" : 1280,
+	  "backgroundHeight" : 720,
      "durationMs": 5000,
 	  "fadeOutMs": 500,
 	  "fadeInMs": 500,
@@ -1002,21 +1132,23 @@
      ],
      "lines": [
 	    {
-          "speaker": "Бекзат",
          "portrait": "resources/hero.png",
-          "text": "Кажется, после того как я умер, я очнулся.",
+          "text": "Мгновенно как я упал без сил, что-то сверкнуло.",
          "durationMs": 3000
        },
        {
-          "speaker": "Бекзат",
          "portrait": "resources/hero.png",
-          "text": "Жесть вообще, хочу спать.",
+          "text": "Я открыл глаза и понял, что я по-прежнему в универе.",
          "durationMs": 3000
        },
 		{
-          "speaker": "Бекзат",
          "portrait": "resources/hero.png",
-          "text": "Который час?",
+          "text": "Все тело болело, как будто я всю ночь таскал мешки с цементом.",
+          "durationMs": 3000
+        },
+		{
+          "portrait": "resources/hero.png",
+          "text": "А еще мне сильно хотелось спать...",
          "durationMs": 2000,
 		  "background": "resources/test_cutscene001.png"
        }
@@ -84,21 +84,35 @@ game_api.npc_walk_to(0, -4.57412, 0, 6.78495, on_teacher_arrived2)
 end

 function on_book_pickup()
+	print("on_book_pickup")
+	local day = game_api.getIntValue("day")
 	if (teacher_told_about_book) then
+		print("on_book_pickup step1")
 	if not player_hold_book then
+		if (night_time) or (day >=1) then
+		game_api.start_dialogue("book_dialog006")
+		else
 		game_api.pickup_item("book")
 		game_api.deactivate_interactive_object("Book001")
 		player_hold_book = true
+		game_api.start_dialogue("book_dialog003")
+		--game_api.set_trigger_zone_enabled(3, true)
+		end
 	else
 		game_api.remove_item("book")
 		game_api.activate_interactive_object("Book001")
 		player_hold_book = false
+		game_api.start_dialogue("book_dialog004")
+		--game_api.set_trigger_zone_enabled(3, false)
 	end
+	else
+	print("on_book_pickup step2")
+	game_api.start_dialogue("book_dialog005")
 	end
 end

 function on_bookshelf_clicked()
-	if not player_hold_book then
+	--[[if not player_hold_book then
 		game_api.pickup_item("book")
 		game_api.deactivate_interactive_object("Book001")
 		player_hold_book = true
@@ -108,7 +122,8 @@ function on_bookshelf_clicked()
 		game_api.activate_interactive_object("Book001")
 		player_hold_book = false
 		game_api.set_trigger_zone_enabled(3, false)
-	end
+	end]]
+	on_book_pickup()
 end


@@ -353,11 +368,16 @@ print("Teacher arrived2")
 end

 function book_dialog_zone001_enter_callback()
+	print("book_dialog_zone001_enter_callback step 1")
 	if (game_api.is_darklands()) then
+		print("book_dialog_zone001_enter_callback step 2")
 		game_api.start_dialogue("ghost_dialog002")
 		game_api.set_trigger_zone_enabled(3, false)
 	else
-		if (night_time == false) then
+		
+		print("book_dialog_zone001_enter_callback step 3")
+		if (player_hold_book) and (night_time == false) then
+			print("book_dialog_zone001_enter_callback step 4")
 			game_api.start_dialogue("book_dialog001")
 			game_api.switch_navigation(5)
 		end
@@ -365,7 +385,8 @@ function book_dialog_zone001_enter_callback()
 end

 function  book_dialog_zone001_exit_callback()
-if (night_time == false) then
+print("book_dialog_zone001_exit_callback step 1")
+if (player_hold_book) and (night_time == false) then
 game_api.switch_navigation(3)
 end
 end
@@ -376,14 +397,27 @@ print("on_computer_clicked--")
 	
 	if (day == 1) then
 		-- TODO: some dialog like I don't need it
+		print("on_computer_clicked--1")
+		game_api.start_dialogue("computer_dialog003")
 	else
-	
+		if teacher_told_about_book then
+		print("on_computer_clicked--2")
 		if (night_time == false) then
+		print("on_computer_clicked--3")
 			if (player_hold_book) then
+			print("on_computer_clicked--4")
 				game_api.start_cutscene("test_cutscene_02")
 			else
+			print("on_computer_clicked--5")
 				game_api.start_dialogue("book_dialog002")
 			end
+		else
+		print("on_computer_clicked--6")
+			game_api.start_dialogue("computer_dialog002")
+		end
+		else
+		print("on_computer_clicked--7")
+			game_api.start_dialogue("computer_dialog001")
 		end
 	end
 end
@@ -469,6 +503,8 @@ game_api.set_darklands_callbacks(
 			first_time_darklands = false
 		end
 		
+		game_api.set_trigger_zone_enabled(1, false)
+		
 		game_api.set_npc_enabled(0, false)
 		game_api.set_npc_enabled(1, false)
 		
@@ -1,182 +0,0 @@
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-
-===Triangles (Indices): 60
-Tri: 0 1 2
-Tri: 3 4 5
-Tri: 6 7 8
-Tri: 9 10 11
-Tri: 12 13 14
-Tri: 15 16 17
-Tri: 18 19 20
-Tri: 21 22 23
-Tri: 24 25 26
-Tri: 27 28 29
-Tri: 30 31 32
-Tri: 33 34 35
-Tri: 36 37 38
-Tri: 39 40 41
-Tri: 42 43 44
-Tri: 45 46 47
-Tri: 48 49 50
-Tri: 51 52 53
-Tri: 54 55 56
-Tri: 57 58 59
-Tri: 60 61 62
-Tri: 63 64 65
-Tri: 66 67 68
-Tri: 69 70 71
-Tri: 72 73 74
-Tri: 75 76 77
-Tri: 78 79 80
-Tri: 81 82 83
-Tri: 84 85 86
-Tri: 87 88 89
-Tri: 0 90 1
-Tri: 3 91 4
-Tri: 6 92 7
-Tri: 9 93 10
-Tri: 12 94 13
-Tri: 15 95 16
-Tri: 18 96 19
-Tri: 21 97 22
-Tri: 24 98 25
-Tri: 27 99 28
-Tri: 30 100 31
-Tri: 33 101 34
-Tri: 36 102 37
-Tri: 39 103 40
-Tri: 42 104 43
-Tri: 45 105 46
-Tri: 48 106 49
-Tri: 51 107 52
-Tri: 54 108 55
-Tri: 57 109 58
-Tri: 60 110 61
-Tri: 63 111 64
-Tri: 66 112 67
-Tri: 69 113 70
-Tri: 72 114 73
-Tri: 75 115 76
-Tri: 78 116 79
-Tri: 81 117 82
-Tri: 84 118 85
-Tri: 87 117 88
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+V 101: Pos(0.477461, -0.567769, -0.084805) Norm(0.668841, -0.57736, 0.468302) UV(0.294091, 0.762002)
+V 102: Pos(0.468575, -0.567769, -0.135202) Norm(0.468336, -0.577333, -0.668841) UV(0.804635, 0.763804)
+V 103: Pos(0.269496, -0.567769, -0.048135) Norm(-0.468336, -0.577333, 0.668841) UV(0.685505, 0.0)
+V 104: Pos(0.243142, 0.285422, -0.083115) Norm(-0.577359, 0.577332, 0.577359) UV(0.137905, 0.850964)
+V 105: Pos(0.347237, 0.285422, -0.083115) Norm(0.577358, 0.577347, 0.577347) UV(0.65141, 0.715234)
+V 106: Pos(0.243142, 0.221328, -0.083115) Norm(-0.577358, -0.577347, 0.577347) UV(0.65141, 0.774464)
+V 107: Pos(0.347237, 0.221328, -0.127209) Norm(0.577358, -0.577347, -0.577347) UV(0.294091, 0.821176)
+V 108: Pos(0.243142, 0.221328, -0.083115) Norm(-0.577358, -0.577347, 0.577347) UV(0.330561, 0.821176)
+
+===Triangles (Indices): 60
+Tri: 0 1 2
+Tri: 3 4 5
+Tri: 6 7 8
+Tri: 9 10 11
+Tri: 12 13 14
+Tri: 15 16 17
+Tri: 18 19 20
+Tri: 21 22 23
+Tri: 24 25 26
+Tri: 27 28 29
+Tri: 30 31 32
+Tri: 33 34 35
+Tri: 36 37 38
+Tri: 39 40 37
+Tri: 41 42 43
+Tri: 44 38 45
+Tri: 43 46 47
+Tri: 39 44 48
+Tri: 49 50 51
+Tri: 52 53 54
+Tri: 55 56 57
+Tri: 58 59 60
+Tri: 61 62 63
+Tri: 64 65 66
+Tri: 67 68 69
+Tri: 70 71 72
+Tri: 73 74 75
+Tri: 76 77 78
+Tri: 79 80 81
+Tri: 82 83 84
+Tri: 0 85 1
+Tri: 3 86 4
+Tri: 6 87 7
+Tri: 9 88 10
+Tri: 12 89 13
+Tri: 15 90 16
+Tri: 18 91 19
+Tri: 21 92 22
+Tri: 24 93 25
+Tri: 27 94 28
+Tri: 30 95 31
+Tri: 33 96 34
+Tri: 36 39 37
+Tri: 39 48 40
+Tri: 41 97 42
+Tri: 44 36 38
+Tri: 43 42 46
+Tri: 39 36 44
+Tri: 49 98 50
+Tri: 52 99 53
+Tri: 55 100 56
+Tri: 58 101 59
+Tri: 61 102 62
+Tri: 64 103 65
+Tri: 67 104 68
+Tri: 70 105 71
+Tri: 73 76 74
+Tri: 76 106 77
+Tri: 79 107 80
+Tri: 82 108 83
@@ -7,6 +7,7 @@
 #include "GameConstants.h"
 #include "Environment.h"

+
 namespace ZL {

 	const float ATTACK_COOLDOWN_TIME = 1.6f; 
@@ -94,6 +95,15 @@ Eigen::Vector3f Character::getCurrentNavigationTarget() const
 	return walkTarget;
 }

+void Character::stopInPlace()
+{
+    walkTarget = Eigen::Vector3f(position.x(), 0.f, position.z());
+    requestedWalkTarget = walkTarget;
+    pathWaypoints.clear();
+    currentWaypointIndex = 0;
+    onArrivedCallback = nullptr;
+}
+
 void Character::forceReplan()
 {
 	if (!pathPlanner) {
@@ -343,6 +353,18 @@ void Character::update(int64_t deltaMs) {
    }


+    if (!isPlayer && hp > 0.f && battle_state == 0 && maxHomeDrift > 0.f) {
+        homeDriftCheckTimer -= static_cast<float>(deltaMs) / 1000.f;
+        if (homeDriftCheckTimer <= 0.f) {
+            homeDriftCheckTimer = HOME_DRIFT_CHECK_INTERVAL;
+            Eigen::Vector3f toHome = homePosition - position;
+            toHome.y() = 0.f;
+            if (!isMoving() && toHome.norm() > maxHomeDrift) {
+                setTarget(homePosition);
+            }
+        }
+    }
+
    if (hitSparkEmitter.isConfigured()) {
        hitSparkEmitter.update(static_cast<float>(deltaMs));
    }
@@ -61,6 +61,10 @@ public:
 	const Eigen::Vector3f& getRequestedWalkTarget() const { return requestedWalkTarget; }
 	Eigen::Vector3f getCurrentNavigationTarget() const;
 	void forceReplan();
+	// Cancels any active walk target and clears waypoints so the character
+	// stays at its current position. Used when an external push moves the
+	// character and we don't want it to walk back to where it was.
+	void stopInPlace();


 	// attackDirection is a world-space horizontal vector pointing from the
@@ -110,6 +114,13 @@ public:
    float hp = 200.f;
    float initialHp = 200.f;

+    // The position the NPC should return to if pushed too far away.
+    // Initialised to the spawn position; updated whenever a script walk command is issued.
+    Eigen::Vector3f homePosition = Eigen::Vector3f::Zero();
+    // Maximum allowed drift from homePosition before a return walk is triggered (metres).
+    // Set to 0 to disable drift recovery for this character.
+    float maxHomeDrift = 3.0f;
+

    int battle_state = 0;
    bool resetAnim = false;
@@ -163,6 +174,9 @@ private:

    static constexpr float WALK_THRESHOLD = 0.05f;
    static constexpr float TARGET_REPLAN_THRESHOLD = 0.25f;
+    static constexpr float HOME_DRIFT_CHECK_INTERVAL = 5.0f;
+
+    float homeDriftCheckTimer = HOME_DRIFT_CHECK_INTERVAL;

    // Returns the animation state to actually play/draw, falling back to IDLE
    // if the requested state has no loaded animation.
@@ -233,9 +233,7 @@ namespace ZL
 		};


-
-
-		uniInteriorParams.teleportsJsonPath = "resources/config2/teleports.json";
+		uniInteriorParams.teleportsJsonPath = "resources/config2/teleports_uni_interior.json";
 		uniInteriorParams.triggerZonesJsonPath = "resources/config2/trigger_zones_uni_interior.json";
 		uniInteriorParams.scriptPath = "resources/start_uni_interior.lua";
 		uniInteriorParams.interactiveObjectsJsonPath = "resources/config2/interactive_objects_uni_interior.json";
@@ -111,6 +111,7 @@ namespace ZL
 		npcs = GameObjectLoader::loadAndCreate_Npcs(params.npcsJsonPath, CONST_ZIP_FILE);
 		for (auto& npc : npcs) {
 			if (!npc) continue;
+			npc->homePosition = Eigen::Vector3f(npc->position.x(), 0.f, npc->position.z());
 			if (npc->canAttack) {
 				npc->setupHitSparks(sparkTexture);
 				npc->attackTarget = player.get();
@@ -297,6 +298,7 @@ namespace ZL
 				const auto addCharacter = [&](const Character* other) {
 					if (!other || other == self) return;
 					if (other->hp <= 0.f || !other->enabled) return;
+					if (other->isMoving()) return;

 					if (distancePointToSegmentXZ(other->position, start, end) > kDynamicObstacleInfluenceDist) {
 						return;
@@ -304,7 +306,7 @@ namespace ZL

 					PathFinder::DynamicObstacle obs;
 					obs.position = Eigen::Vector3f(other->position.x(), navigation->getFloorY(), other->position.z());
-					obs.radius = (std::max)(0.0f, other->collisionRadius);
+					obs.radius = (std::max)(0.0f, other->collisionRadius * 0.6f);
 					dynamicObstacles.push_back(obs);
 				};

@@ -313,7 +315,7 @@ namespace ZL
 					addCharacter(npc.get());
 				}

-				return navigation->findPath(start, end, dynamicObstacles);
+				return navigation->findPathToNearest(start, end, dynamicObstacles);
 			};
 		};

@@ -981,6 +983,30 @@ namespace ZL
 		return navigation->setAreaAvailable(areaName, available);
 	}

+	void Location::nudgeCharacterAside(Character* standing, const Eigen::Vector3f& awayFrom)
+	{
+		if (!standing || standing->isPlayer) return;
+		if (!navigation || !navigation->isReady()) return;
+
+		static constexpr float kNudgeDist = 1.2f;
+
+		Eigen::Vector3f dir = standing->position - awayFrom;
+		dir.y() = 0.f;
+		if (dir.norm() < 1e-3f) dir = Eigen::Vector3f(1.f, 0.f, 0.f);
+		else dir.normalize();
+
+		const float angles[] = { 0.f, static_cast<float>(M_PI * 0.5), static_cast<float>(-M_PI * 0.5), static_cast<float>(M_PI) };
+		for (float angle : angles) {
+			Eigen::Vector3f rotated = Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitY()) * dir;
+			Eigen::Vector3f candidate = standing->position + rotated * kNudgeDist;
+			candidate.y() = 0.f;
+			if (navigation->isWalkable(candidate)) {
+				standing->setTarget(candidate);
+				return;
+			}
+		}
+	}
+
 	void Location::resolveCharacterCollisions()
 	{
 		std::vector<Character*> characters;
@@ -1039,6 +1065,9 @@ namespace ZL
 					newB.z() += normal.y() * push;
 					newB.y() = 0.f;

+					const bool aWasMoving = a->isMoving();
+					const bool bWasMoving = b->isMoving();
+
 					if (navigation && navigation->isReady()) {
 						const bool aOk = navigation->isWalkable(newA);
 						const bool bOk = navigation->isWalkable(newB);
@@ -1058,6 +1087,15 @@ namespace ZL
 						a->position = newA;
 						b->position = newB;
 					}
+
+					if (a->isPlayer && !aWasMoving) a->stopInPlace();
+					if (b->isPlayer && !bWasMoving) b->stopInPlace();
+
+					if (aWasMoving && !bWasMoving) {
+						nudgeCharacterAside(b, a->position);
+					} else if (bWasMoving && !aWasMoving) {
+						nudgeCharacterAside(a, b->position);
+					}
 				}
 			}
 		}
@@ -1066,8 +1104,8 @@ namespace ZL
 	void Location::updateDynamicReplans(int64_t deltaMs)
 	{
 		static constexpr float kMovedEps = 0.05f;
-		static constexpr float kReplanTriggerDist = 1.1f;
-		static constexpr int64_t kReplanCooldownMs = 300;
+		static constexpr float kReplanTriggerDist = 1.8f;
+		static constexpr int64_t kReplanCooldownMs = 500;

 		for (auto it = replanCooldownRemainingMs.begin(); it != replanCooldownRemainingMs.end();) {
 			it->second -= deltaMs;
@@ -151,6 +151,7 @@ namespace ZL
 		void loadTeleportZones(const std::string& jsonPath, const char* zipFile);
 		void loadTriggerZones(const std::string& jsonPath, const char* zipFile);
 		void updateTriggerZones(const Eigen::Vector3f& playerPos);
+		void nudgeCharacterAside(Character* standing, const Eigen::Vector3f& awayFrom);

 		std::unordered_map<Character*, Eigen::Vector3f> lastCharacterPositions;
 		std::unordered_map<Character*, int64_t> replanCooldownRemainingMs;
@@ -57,6 +57,7 @@ namespace ZL {
                        }
                        };
                }
+                npcs[index]->homePosition = Eigen::Vector3f(x, 0.f, z);
                npcs[index]->setTarget(Eigen::Vector3f(x, y, z), std::move(cb));
            });

@@ -104,7 +105,7 @@ namespace ZL {
        api.set_function("set_object_rotation", [game](const std::string& objectName, float value) {
            for (auto& intObj : game->interactiveObjects) {
                if (intObj.loadedObject.name == objectName) {
-                    intObj.rotationY = value;
+                    intObj.rotationY = value * static_cast<float>(M_PI) / 180.f;
                    std::cout << "[script] set_object_rotation: " << objectName << " " << value << std::endl;
                    return;
                }
@@ -316,7 +317,7 @@ namespace ZL {
                npcs[index]->setTarget(pos);
            });

-        // npc_set_rotation(index, angle) — sets NPC facing angle around Y axis (radians).
+        // npc_set_rotation(index, angle) — sets NPC facing angle around Y axis (degrees).
        api.set_function("npc_set_rotation",
            [game](int index, float angle) {
                auto& npcs = game->npcs;
@@ -324,8 +325,9 @@ namespace ZL {
                    std::cerr << "[script] npc_set_rotation: index " << index << " out of range\n";
                    return;
                }
-                npcs[index]->facingAngle = angle;
-                npcs[index]->targetFacingAngle = angle;
+                const float rad = angle * static_cast<float>(M_PI) / 180.f;
+                npcs[index]->facingAngle = rad;
+                npcs[index]->targetFacingAngle = rad;
            });

        // set_npc_enabled(index, enabled)
@@ -119,13 +119,14 @@ namespace ZL {
 		else
 			obj.mesh.data = LoadFromTextFile02(data.meshPath, zipPath);

+		constexpr float kDeg2Rad = static_cast<float>(M_PI) / 180.0f;
 		Eigen::Quaternionf rot = Eigen::Quaternionf::Identity();
 		if (data.rotationX != 0.0f)
-			rot = Eigen::Quaternionf(Eigen::AngleAxisf(data.rotationX, Eigen::Vector3f::UnitX())) * rot;
+			rot = Eigen::Quaternionf(Eigen::AngleAxisf(data.rotationX * kDeg2Rad, Eigen::Vector3f::UnitX())) * rot;
 		if (data.rotationY != 0.0f)
-			rot = Eigen::Quaternionf(Eigen::AngleAxisf(data.rotationY, Eigen::Vector3f::UnitY())) * rot;
+			rot = Eigen::Quaternionf(Eigen::AngleAxisf(data.rotationY * kDeg2Rad, Eigen::Vector3f::UnitY())) * rot;
 		if (data.rotationZ != 0.0f)
-			rot = Eigen::Quaternionf(Eigen::AngleAxisf(data.rotationZ, Eigen::Vector3f::UnitZ())) * rot;
+			rot = Eigen::Quaternionf(Eigen::AngleAxisf(data.rotationZ * kDeg2Rad, Eigen::Vector3f::UnitZ())) * rot;
 		obj.mesh.data.RotateByMatrix(rot.toRotationMatrix());

 		if (data.scale != 1.0f)
@@ -262,7 +263,7 @@ namespace ZL {
 				data.modelCorrectionRotX = item.value("modelCorrectionRotX", 0.0f) * static_cast<float>(M_PI) / 180.0f;
 				data.modelCorrectionRotY = item.value("modelCorrectionRotY", 0.0f) * static_cast<float>(M_PI) / 180.0f;
 				data.modelCorrectionRotZ = item.value("modelCorrectionRotZ", 0.0f) * static_cast<float>(M_PI) / 180.0f;
-				data.facingAngle    = item.value("facingAngle", 0.0f);
+				data.facingAngle    = item.value("facingAngle", 0.0f) * static_cast<float>(M_PI) / 180.0f;
 				data.hp             = item.value("hp", 100.0f);
 				data.canAttack      = item.value("canAttack", false);
 				data.enabled        = item.value("enabled", true);
@@ -397,6 +397,124 @@ std::vector<Eigen::Vector3f> PathFinder::findPath(const Eigen::Vector3f& start,
    return path;
 }

+std::vector<Eigen::Vector3f> PathFinder::findNearestReachableImpl(
+    const Eigen::Vector3f& start,
+    const Eigen::Vector3f& end,
+    const std::vector<unsigned char>& walkableGrid) const
+{
+    if (!ready || walkableGrid.empty()) return {};
+
+    Cell startCell;
+    Cell endCell;
+    if (!findNearestWalkableCell(start, startCell, walkableGrid)) return {};
+    if (!findNearestWalkableCell(end,   endCell,   walkableGrid)) return {};
+
+    struct QueueNode {
+        int index = 0;
+        float priority = 0.0f;
+        bool operator<(const QueueNode& other) const { return priority > other.priority; }
+    };
+
+    const int cellCount = gridWidth * gridDepth;
+    std::vector<float> cost(static_cast<size_t>(cellCount), INF_COST);
+    std::vector<int> cameFrom(static_cast<size_t>(cellCount), -1);
+    std::priority_queue<QueueNode> open;
+
+    const int startIndex = indexOf(startCell);
+    const int endIndex   = indexOf(endCell);
+
+    cost[static_cast<size_t>(startIndex)] = 0.f;
+    open.push({ startIndex, 0.f });
+
+    int   bestIndex = startIndex;
+    float bestDist  = distanceCells(startCell, endCell);
+
+    static const int offsets[8][2] = {
+        { 1, 0 }, { -1, 0 }, { 0, 1 }, { 0, -1 },
+        { 1, 1 }, { 1, -1 }, { -1, 1 }, { -1, -1 }
+    };
+
+    while (!open.empty()) {
+        const QueueNode current = open.top();
+        open.pop();
+
+        if (current.index == endIndex) {
+            bestIndex = endIndex;
+            break;
+        }
+
+        if (cost[static_cast<size_t>(current.index)] < current.priority - distanceCells({ current.index % gridWidth, current.index / gridWidth }, endCell)) {
+            continue; // stale entry
+        }
+
+        const Cell currentCell{ current.index % gridWidth, current.index / gridWidth };
+        const float d = distanceCells(currentCell, endCell);
+        if (d < bestDist) {
+            bestDist  = d;
+            bestIndex = current.index;
+        }
+
+        for (const auto& offset : offsets) {
+            Cell next{ currentCell.x + offset[0], currentCell.z + offset[1] };
+            if (!isCellWalkable(next, walkableGrid)) continue;
+
+            const bool diagonal = offset[0] != 0 && offset[1] != 0;
+            if (diagonal) {
+                Cell h{ currentCell.x + offset[0], currentCell.z };
+                Cell v{ currentCell.x, currentCell.z + offset[1] };
+                if (!isCellWalkable(h, walkableGrid) || !isCellWalkable(v, walkableGrid)) continue;
+            }
+
+            const int nextIndex   = indexOf(next);
+            const float stepCost  = diagonal ? 1.41421356f : 1.0f;
+            const float newCost   = cost[static_cast<size_t>(current.index)] + stepCost;
+            if (newCost >= cost[static_cast<size_t>(nextIndex)]) continue;
+
+            cost[static_cast<size_t>(nextIndex)]    = newCost;
+            cameFrom[static_cast<size_t>(nextIndex)] = current.index;
+            open.push({ nextIndex, newCost + distanceCells(next, endCell) });
+        }
+    }
+
+    if (bestIndex == startIndex) return {};
+
+    std::vector<Cell> cells;
+    for (int cur = bestIndex; cur != -1; cur = cameFrom[static_cast<size_t>(cur)]) {
+        cells.push_back({ cur % gridWidth, cur / gridWidth });
+        if (cur == startIndex) break;
+    }
+    std::reverse(cells.begin(), cells.end());
+    cells = smoothCells(cells, walkableGrid);
+
+    std::vector<Eigen::Vector3f> path;
+    path.reserve(cells.size());
+    for (const Cell& cell : cells) path.push_back(cellCenter(cell));
+
+    if (!path.empty() && (path.front() - Eigen::Vector3f(start.x(), floorY, start.z())).norm() < cellSize * 0.75f)
+        path.erase(path.begin());
+
+    return path;
+}
+
+std::vector<Eigen::Vector3f> PathFinder::findPathToNearest(
+    const Eigen::Vector3f& start, const Eigen::Vector3f& end) const
+{
+    auto path = findPath(start, end);
+    if (!path.empty()) return path;
+    return findNearestReachableImpl(start, end, walkable);
+}
+
+std::vector<Eigen::Vector3f> PathFinder::findPathToNearest(
+    const Eigen::Vector3f& start, const Eigen::Vector3f& end,
+    const std::vector<DynamicObstacle>& dynamicObstacles) const
+{
+    auto path = findPath(start, end, dynamicObstacles);
+    if (!path.empty()) return path;
+    path = findPath(start, end);
+    if (!path.empty()) return path;
+    return findNearestReachableImpl(start, end, walkable);
+}
+
 bool PathFinder::setAreaAvailable(const std::string& areaName, bool available)
 {
    bool found = false;
@@ -41,6 +41,14 @@ public:
 	                                      const Eigen::Vector3f& end,
 	                                      const std::vector<DynamicObstacle>& dynamicObstacles) const;

+	// Like findPath, but when the destination is unreachable the character
+	// walks as close as possible instead of not moving at all.
+	std::vector<Eigen::Vector3f> findPathToNearest(const Eigen::Vector3f& start,
+	                                               const Eigen::Vector3f& end) const;
+	std::vector<Eigen::Vector3f> findPathToNearest(const Eigen::Vector3f& start,
+	                                               const Eigen::Vector3f& end,
+	                                               const std::vector<DynamicObstacle>& dynamicObstacles) const;
+
    bool setAreaAvailable(const std::string& areaName, bool available);
    bool isReady() const { return ready; }
    bool isWalkable(const Eigen::Vector3f& point) const;
@@ -95,6 +103,12 @@ private:
 	bool findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out, const std::vector<unsigned char>& walkableGrid) const;
 	bool hasLineOfSight(const Cell& from, const Cell& to, const std::vector<unsigned char>& walkableGrid) const;
 	std::vector<Cell> smoothCells(const std::vector<Cell>& cells, const std::vector<unsigned char>& walkableGrid) const;
+
+	// A* that runs to exhaustion and returns a path to the reachable cell
+	// geometrically closest to end when end itself is unreachable.
+	std::vector<Eigen::Vector3f> findNearestReachableImpl(const Eigen::Vector3f& start,
+	                                                      const Eigen::Vector3f& end,
+	                                                      const std::vector<unsigned char>& walkableGrid) const;
 };

 } // namespace ZL