added finding path with A* and json file to know where character can walk

src/navigation/PathFinder.h

@@ -0,0 +1,76 @@
+#pragma once
+
+#include "render/Renderer.h"
+#include <Eigen/Core>
+#include <string>
+#include <vector>
+
+namespace ZL {
+
+class PathFinder {
+public:
+    struct ObstacleMesh {
+        const VertexDataStruct* mesh = nullptr;
+        Eigen::Vector3f offset = Eigen::Vector3f::Zero();
+    };
+
+    struct Cell {
+        int x = 0;
+        int z = 0;
+    };
+
+    void build(const std::vector<ObstacleMesh>& obstacleMeshes,
+               const std::string& configPath,
+               const std::string& zipPath = "");
+
+    std::vector<Eigen::Vector3f> findPath(const Eigen::Vector3f& start,
+                                          const Eigen::Vector3f& end) const;
+
+    bool setAreaAvailable(const std::string& areaName, bool available);
+    bool isReady() const { return ready; }
+    bool isWalkable(const Eigen::Vector3f& point) const;
+
+private:
+    struct NavigationArea {
+        std::string name;
+        bool available = true;
+        std::vector<Eigen::Vector2f> polygon;
+    };
+
+    float cellSize = 0.4f;
+    float agentRadius = 0.45f;
+    float floorY = 0.0f;
+    float objectPadding = 0.25f;
+
+    float minX = 0.0f;
+    float minZ = 0.0f;
+    int gridWidth = 0;
+    int gridDepth = 0;
+    bool ready = false;
+
+    std::string loadedConfigPath;
+    std::string loadedZipPath;
+    std::vector<ObstacleMesh> obstacles;
+    std::vector<unsigned char> walkable;
+    std::vector<NavigationArea> areas;
+
+    void loadConfig(const std::string& configPath, const std::string& zipPath);
+    void resetGridBounds();
+    void rebuildWalkableGrid();
+    void markAvailableAreasWalkable();
+    void markObstacleMeshesBlocked();
+
+    bool worldToCell(const Eigen::Vector3f& point, Cell& out) const;
+    Eigen::Vector3f cellCenter(const Cell& cell) const;
+    bool isInsideGrid(const Cell& cell) const;
+    bool isCellWalkable(const Cell& cell) const;
+    int indexOf(const Cell& cell) const;
+
+    bool findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out) const;
+    bool hasLineOfSight(const Cell& from, const Cell& to) const;
+    std::vector<Cell> smoothCells(const std::vector<Cell>& cells) const;
+
+    static bool pointInPolygon(float x, float z, const std::vector<Eigen::Vector2f>& polygon);
+};
+
+} // namespace ZL