Working about pathfinding

src/CharacterState.h

@@ -9,6 +9,7 @@
 #include <Eigen/Geometry>
 #include "external/nlohmann/json.hpp"
 #include "ISaveable.h"
+#include "navigation/PathFinder.h"
 
 namespace FRG {
 
@@ -110,8 +111,12 @@ public:
     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;
+    // Smaller physical contact threshold used by the movement guard.
+    float movementContactRadius = 0.32f;
     float interactionRadius = 0.0f;
+    bool movedLastTick = false;
 
     // --- Pathfinding data (serializable parts) ---
     Eigen::Vector3f walkTarget          = Eigen::Vector3f::Zero();
@@ -121,6 +126,11 @@ public:
 
     // Internal drift-check timer (serializable so it survives save/load).
     float homeDriftCheckTimer = 5.0f;
+    int movementBlockedTicks = 0;
+    int navigationRetryTicks = 0;
+    std::string blockingCharacterId;
+    std::vector<int> navigationRetryCooldownTicks;
+    std::size_t navigationRetryCooldownIndex = 0;
 
     // Global Lua function called when the character reaches the final waypoint.
     // The name is serialized, so no runtime callback needs to be rehydrated.
@@ -131,6 +141,9 @@ public:
 
     // --- Pure-state methods ---
     void                   configureAsPlayer();
+    void                   configureNavigationRetryCooldowns(
+                                     const std::string& entityId,
+                                     std::vector<int> cooldownTicks = {});
     bool                   isMoving()                   const;
     const Eigen::Vector3f& getRequestedWalkTarget()     const { return requestedWalkTarget; }
     Eigen::Vector3f        getCurrentNavigationTarget()  const;
@@ -138,9 +151,13 @@ public:
     void                   setTarget(const Eigen::Vector3f& target,
                                      std::string callbackName,
                                      const LocationNetworkState& location,
-                                     const std::string& entityId);
+                                     const std::string& entityId,
+                                     const std::vector<PathFinder::DynamicObstacle>&
+                                         dynamicObstacles = {});
     void                   forceReplan(const LocationNetworkState& location,
-                                       const std::string& entityId);
+                                       const std::string& entityId,
+                                       const std::vector<PathFinder::DynamicObstacle>&
+                                           dynamicObstacles = {});
     void                   stopAndRotateToTarget(std::string characterId);
     void                   resetPlayerAfterDeath();
     void                   tryAttackCombo();
@@ -151,6 +168,9 @@ public:
     // --- Serialisation (runtime mutable fields only; creation info is reloaded from config) ---
     void save(nlohmann::json& out) const override;
     void load(const nlohmann::json& in) override;
+
+private:
+    void scheduleNextNavigationRetry();
 };
 
 using PlayerStateMap =
@@ -161,16 +181,28 @@ struct CharacterObservation {
     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 {
     bool attackImpact = false;
     bool deathAnimationComplete = false;
     bool navigationRequested = false;
+    bool forceNavigationReplan = false;
     Eigen::Vector3f navigationTarget = Eigen::Vector3f::Zero();
+    std::string blockingCharacterId;
     std::string arrivedCallbackName;
     std::string attackTargetId;
     Eigen::Vector3f attackDirection = Eigen::Vector3f::Zero();