Switch to Vec3fp and fp variables for character

src/CharacterState.h

@@ -61,6 +61,9 @@ public:
     // Distance below which the character is considered to have reached its target.
     static constexpr float kWalkThreshold = 0.05f;
 
+    static fp kWalkThreshold_SQUARED() { return static_cast<fp>(kWalkThreshold * kWalkThreshold); };
+
+    
     // --- Identity ---
     std::string npcName;
     bool isPlayer  = false;
@@ -68,15 +71,15 @@ public:
     bool canAttack = false;
 
     // --- Position / orientation ---
-    Eigen::Vector3f position          = Eigen::Vector3f::Zero();
-    float           facingAngle       = 0.0f;
-    float           targetFacingAngle = 0.0f;
+    Vec3fp position;
+    fp           facingAngle;
+    fp           targetFacingAngle;
 
     // --- Health ---
     float hp        = 200.f;
     float initialHp = 200.f;
 
-    float visibleRange = VISIBLE_RANGE;
+    fp visibleRange = static_cast<fp>(VISIBLE_RANGE);
 
     // --- Combat flags ---
     int            battle_state    = 0;
@@ -95,8 +98,8 @@ public:
     std::string faceTargetId;
 
     // --- Home position for drift recovery ---
-    Eigen::Vector3f homePosition = Eigen::Vector3f::Zero();
-    float maxHomeDrift = 3.0f;
+    Vec3fp homePosition;
+    fp maxHomeDriftSquared = static_cast<fp>(3.f*3.f);
 
     // --- Authoritative logical animation clock ---
     // Frame counts are immutable metadata copied from loaded clips during
@@ -106,26 +109,27 @@ public:
     std::array<int, 9> animationFrameCounts = {{1, 1, 1, 1, 1, 1, 1, 1, 1}};
 
     // --- Movement / visual parameters ---
-    float walkSpeed      = 3.0f;
-    float rotationSpeed  = 4.0f;
+    fp walkSpeed = static_cast<fp>(3.0f);
+    fp rotationSpeed = static_cast<fp>(4.0f);
+
     float modelScale     = 0.12f;
     Eigen::Quaternionf modelCorrectionRotation = Eigen::Quaternionf::Identity();
     bool  useGpuSkinning  = true;
     // Full clearance used while planning around stationary characters.
-    float collisionRadius = 0.45f;
+    //fp collisionRadius = static_cast<fp>(0.45f);
     // Smaller physical contact threshold used by the movement guard.
-    float movementContactRadius = 0.32f;
-    float interactionRadius = 0.0f;
+    //fp movementContactRadius = static_cast<fp>(0.32f);
+    fp interactionRadius = static_cast<fp>(0.0f);
     bool movedLastTick = false;
 
     // --- Pathfinding data (serializable parts) ---
-    Eigen::Vector3f walkTarget          = Eigen::Vector3f::Zero();
-    Eigen::Vector3f requestedWalkTarget = Eigen::Vector3f::Zero();
-    std::vector<Eigen::Vector3f> pathWaypoints;
+    Vec3fp walkTarget;
+    Vec3fp requestedWalkTarget;
+    std::vector<Vec3fp> pathWaypoints;
     size_t currentWaypointIndex = 0;
 
     // Internal drift-check timer (serializable so it survives save/load).
-    float homeDriftCheckTimer = 5.0f;
+    fp homeDriftCheckTimer = static_cast<fp>(5.0f);
     int movementBlockedTicks = 0;
     int navigationRetryTicks = 0;
     std::string blockingCharacterId;
@@ -145,10 +149,10 @@ public:
                                      const std::string& entityId,
                                      std::vector<int> cooldownTicks = {});
     bool                   isMoving()                   const;
-    const Eigen::Vector3f& getRequestedWalkTarget()     const { return requestedWalkTarget; }
-    Eigen::Vector3f        getCurrentNavigationTarget()  const;
+    const Vec3fp& getRequestedWalkTarget()     const { return requestedWalkTarget; }
+    Vec3fp       getCurrentNavigationTarget()  const;
     void                   stopInPlace();
-    void                   setTarget(const Eigen::Vector3f& target,
+    void                   setTarget(const Vec3fp& target,
                                      std::string callbackName,
                                      const LocationNetworkState& location,
                                      const std::string& entityId);
@@ -173,23 +177,14 @@ using PlayerStateMap =
     std::unordered_map<std::string, std::shared_ptr<CharacterState>>;
 
 struct CharacterObservation {
-    Eigen::Vector3f position = Eigen::Vector3f::Zero();
+    Vec3fp position;
     float hp = 0.f;
 };
 
-struct CharacterMovementObstacle {
-    std::string id;
-    Eigen::Vector3f position = Eigen::Vector3f::Zero();
-    float radius = 0.f;
-    bool moving = false;
-    Eigen::Vector3f movementDirection = Eigen::Vector3f::Zero();
-};
-
 struct CharacterUpdateContext {
     std::string characterId;
     const CharacterObservation* attackTarget = nullptr;
     const CharacterObservation* faceTarget = nullptr;
-    const std::vector<CharacterMovementObstacle>* movementObstacles = nullptr;
 };
 
 struct CharacterUpdateEvents {
@@ -197,11 +192,11 @@ struct CharacterUpdateEvents {
     bool deathAnimationComplete = false;
     bool navigationRequested = false;
     bool forceNavigationReplan = false;
-    Eigen::Vector3f navigationTarget = Eigen::Vector3f::Zero();
+    Vec3fp navigationTarget;
     std::string blockingCharacterId;
     std::string arrivedCallbackName;
     std::string attackTargetId;
-    Eigen::Vector3f attackDirection = Eigen::Vector3f::Zero();
+    Vec3fp attackDirection;
 };
 
 } // namespace FRG