Finally restored attacks

cmake/FetchDependenciesServer.cmake

@@ -0,0 +1,47 @@
+# cmake/FetchDependenciesServer.cmake
+#
+# Downloads only what the headless GameServer needs (Eigen + Boost headers).
+# Skips anything already present in thirdparty/. Works on Windows and Linux.
+
+set(THIRDPARTY_DIR "${CMAKE_CURRENT_LIST_DIR}/../thirdparty")
+file(MAKE_DIRECTORY "${THIRDPARTY_DIR}")
+
+macro(server_check_and_download URL ARCHIVE_NAME EXTRACTED_DIR_NAME CHECK_FILE)
+	set(_archive_path "${THIRDPARTY_DIR}/${ARCHIVE_NAME}")
+	set(_src_path "${THIRDPARTY_DIR}/${EXTRACTED_DIR_NAME}")
+
+	if(NOT EXISTS "${_src_path}/${CHECK_FILE}")
+		if(NOT EXISTS "${_archive_path}")
+			message(STATUS "Downloading ${ARCHIVE_NAME}...")
+			file(DOWNLOAD "${URL}" "${_archive_path}"
+				SHOW_PROGRESS STATUS _dl_status)
+			list(GET _dl_status 0 _dl_code)
+			if(NOT _dl_code EQUAL 0)
+				file(REMOVE "${_archive_path}")
+				message(FATAL_ERROR "Failed to download ${URL}: ${_dl_status}")
+			endif()
+		endif()
+		message(STATUS "Extracting ${ARCHIVE_NAME}...")
+		execute_process(
+			COMMAND ${CMAKE_COMMAND} -E tar xf "${_archive_path}"
+			WORKING_DIRECTORY "${THIRDPARTY_DIR}"
+			RESULT_VARIABLE _tar_res)
+		if(NOT _tar_res EQUAL 0)
+			message(FATAL_ERROR "Failed to extract ${_archive_path}")
+		endif()
+	endif()
+endmacro()
+
+# Eigen: only needed if no system install is available.
+find_package(Eigen3 3.3 CONFIG QUIET)
+if(NOT TARGET Eigen3::Eigen)
+	server_check_and_download(
+		"https://gitlab.com/libeigen/eigen/-/archive/5.0.0/eigen-5.0.0.zip"
+		"eigen-5.0.0.zip" "eigen-5.0.0" "signature_of_eigen3_matrix_library")
+endif()
+
+# Boost (header-only usage: asio + beast). Use bundled copy always so the
+# version matches the Windows build.
+server_check_and_download(
+	"https://archives.boost.io/release/1.90.0/source/boost_1_90_0.zip"
+	"boost_1_90_0.zip" "boost_1_90_0" "boost/asio.hpp")

proj-web/CMakeLists.txt

@@ -246,7 +246,7 @@ set(EMSCRIPTEN_LINK_FLAGS
     "--preload-file ${CMAKE_CURRENT_SOURCE_DIR}/../resources/start_uni_interior.lua@resources/start_uni_interior.lua"
     "--preload-file ${CMAKE_CURRENT_SOURCE_DIR}/../resources/start_uni_exterior.lua@resources/start_uni_exterior.lua"
 	"--preload-file ${CMAKE_CURRENT_SOURCE_DIR}/../resources/start_dorm.lua@resources/start_dorm.lua"
-		"--preload-file ${CMAKE_CURRENT_SOURCE_DIR}/../resources/start_dorm.lua@resources/start_battle_zone.lua"
+		"--preload-file ${CMAKE_CURRENT_SOURCE_DIR}/../resources/start_battle_zone.lua@resources/start_battle_zone.lua"
 )
 
 # Применяем настройки линковки

proj-web/index.html

@@ -5,17 +5,28 @@
     <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no, viewport-fit=cover">
     <title>Shadow Over Bishkek</title>
     <style>
+        :root {
+            /* Visible viewport size, kept in sync by syncViewport() below.
+               100vh on mobile is the *largest* viewport (URL bar hidden) and
+               would push the bottom of the canvas off-screen. */
+            --app-w: 100%;
+            --app-h: 100dvh;
+        }
         body, html {
             margin: 0; padding: 0; width: 100%; height: 100%;
             overflow: hidden; background-color: #000;
-            position: fixed;
+            position: fixed; top: 0; left: 0;
         }
         #canvas {
             display: block;
-            position: absolute;
+            position: fixed;
             top: 0; left: 0;
-            width: 100vw; height: 100vh;
+            width: var(--app-w); height: var(--app-h);
             border: none;
+            touch-action: none;
+            -webkit-touch-callout: none;
+            -webkit-user-select: none;
+            user-select: none;
         }
 
         #status { color: white; position: absolute; top: 50%; left: 50%; transform: translate(-50%, -50%); }
@@ -49,8 +60,28 @@
             loadGameScript();
         });
 
+        function syncViewport() {
+            var vv = window.visualViewport;
+            var w = (vv && vv.width) || window.innerWidth;
+            var h = (vv && vv.height) || window.innerHeight;
+            var root = document.documentElement;
+            root.style.setProperty('--app-w', Math.round(w) + 'px');
+            root.style.setProperty('--app-h', Math.round(h) + 'px');
+        }
+        syncViewport();
+        // Registered before the game script loads, so the CSS size is updated
+        // before the engine's own resize handler reads it.
+        window.addEventListener('resize', syncViewport);
+        if (window.visualViewport) {
+            window.visualViewport.addEventListener('resize', function () {
+                syncViewport();
+                window.dispatchEvent(new Event('resize'));
+            });
+        }
+
         window.addEventListener("orientationchange", function() {
             setTimeout(() => {
+                syncViewport();
                 window.dispatchEvent(new Event('resize'));
             }, 200);
         });

proj-windows/CMakeLists.txt

@@ -131,8 +131,14 @@ set_property(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT S
 # include-пути проекта
 target_include_directories(ShadowOverBishkekDemo PRIVATE
     "${CMAKE_CURRENT_SOURCE_DIR}/../src"
+	"${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/Clipper2-Clipper2_2.0.1/CPP/build/Release/include"
 )
 
+#target_link_directories(ShadowOverBishkekDemo PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/Clipper2-Clipper2_2.0.1/CPP/build/Release/lib")
+
+target_link_directories(ShadowOverBishkekDemo PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/Clipper2-Clipper2_2.0.1/CPP/build_debug/Debug/lib")
+
+
 set_target_properties(ShadowOverBishkekDemo PROPERTIES
     OUTPUT_NAME "ShadowOverBishkekDemo"
 )
@@ -162,6 +168,7 @@ target_link_libraries(ShadowOverBishkekDemo PRIVATE
     sol2_external_lib
     SDL2_mixer_external_lib
     openssl_ssl_external_lib
+	Clipper2.lib
 )
 
 # Линкуем OpenGL (Windows)

resources/w/ui/screen_main_menu.json

@@ -125,7 +125,7 @@
                 "y": 10,
                 "width": 160,
                 "height": 36,
-                "text": "v. 1.0.7",
+                "text": "v. 1.1.2",
                 "fontSize": 24,
                 "textCentered": false,
                 "topAligned": true,

resources/w/ui/screen_main_menu_android.json

@@ -116,7 +116,7 @@
                 "y": 10,
                 "width": 160,
                 "height": 36,
-                "text": "v. 1.0.7",
+                "text": "v. 1.1.2",
                 "fontSize": 24,
                 "textCentered": false,
                 "topAligned": true,

resources/w/ui_en/screen_main_menu.json

@@ -125,7 +125,7 @@
                 "y": 10,
                 "width": 160,
                 "height": 36,
-                "text": "v. 1.0.7",
+                "text": "v. 1.1.2",
                 "fontSize": 24,
                 "textCentered": false,
                 "topAligned": true,

resources/w/ui_en/screen_main_menu_android.json

@@ -125,7 +125,7 @@
                 "y": 10,
                 "width": 160,
                 "height": 36,
-                "text": "v. 1.0.7",
+                "text": "v. 1.1.2",
                 "fontSize": 24,
                 "textCentered": false,
                 "topAligned": true,

server/CMakeLists.txt

@@ -9,6 +9,7 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 set(GAME_ROOT "${CMAKE_CURRENT_LIST_DIR}/..")
 
 find_package(Threads REQUIRED)
+include("${GAME_ROOT}/cmake/FetchDependenciesServer.cmake")
 find_package(Eigen3 3.3 CONFIG QUIET)
 if(NOT TARGET Eigen3::Eigen)
 	set(EIGEN_BUNDLED_DIR "${GAME_ROOT}/thirdparty/eigen-5.0.0")
@@ -105,24 +106,32 @@ endif()
 add_executable(GameServer src/main.cpp README.md)
 source_group("Server" FILES src/main.cpp README.md)
 target_link_libraries(GameServer PRIVATE game_server_core)
+set(BOOST_BUNDLED_DIR "${GAME_ROOT}/thirdparty/boost_1_90_0")
+if(NOT EXISTS "${BOOST_BUNDLED_DIR}/boost/asio.hpp")
+	message(FATAL_ERROR
+		"Boost was not found at thirdparty/boost_1_90_0 and could not be "
+		"downloaded.")
+endif()
+target_sources(GameServer PRIVATE
+	"${GAME_ROOT}/src/game_server/NetworkProtocol.cpp"
+	"${GAME_ROOT}/src/game_server/NetworkProtocol.h"
+	"${GAME_ROOT}/src/game_server/WebsocketGameServer.cpp"
+	"${GAME_ROOT}/src/game_server/WebsocketGameServer.h")
+target_include_directories(GameServer PRIVATE "${BOOST_BUNDLED_DIR}")
+target_compile_definitions(GameServer PRIVATE NETWORK)
 if(WIN32)
-	set(BOOST_BUNDLED_DIR "${GAME_ROOT}/thirdparty/boost_1_90_0")
-	if(NOT EXISTS "${BOOST_BUNDLED_DIR}/boost/asio.hpp")
-		message(FATAL_ERROR
-			"Boost was not found at thirdparty/boost_1_90_0. Configure the "
-			"graphical project once to populate it.")
-	endif()
-	target_sources(GameServer PRIVATE
-		"${GAME_ROOT}/src/game_server/NetworkProtocol.cpp"
-		"${GAME_ROOT}/src/game_server/NetworkProtocol.h"
-		"${GAME_ROOT}/src/game_server/WebsocketGameServer.cpp"
-		"${GAME_ROOT}/src/game_server/WebsocketGameServer.h")
-	target_include_directories(GameServer PRIVATE "${BOOST_BUNDLED_DIR}")
 	target_compile_definitions(
-		GameServer PRIVATE NETWORK WIN32_LEAN_AND_MEAN _WIN32_WINNT=0x0A00)
+		GameServer PRIVATE WIN32_LEAN_AND_MEAN _WIN32_WINNT=0x0A00)
 	target_link_libraries(GameServer PRIVATE ws2_32 mswsock)
 endif()
 
+# The server reads configs from ./resources relative to its working directory,
+# so keep a copy next to the binary after every build.
+add_custom_command(TARGET GameServer POST_BUILD
+	COMMAND ${CMAKE_COMMAND} -E copy_directory
+		"${GAME_ROOT}/resources" "$<TARGET_FILE_DIR:GameServer>/resources"
+	COMMENT "Copying resources next to GameServer")
+
 include(CTest)
 if(BUILD_TESTING)
 	add_executable(
@@ -141,7 +150,8 @@ if(BUILD_TESTING)
 	add_test(
 		NAME GameServer.LocationState
 		COMMAND GameServerStateTests)
-	if(WIN32)
+	# network tests (all platforms)
+	if(TRUE)
 		add_executable(
 			GameServerNetworkProtocolTests
 			tests/NetworkProtocolTests.cpp
@@ -169,8 +179,14 @@ if(BUILD_TESTING)
 				PROPERTIES COMPILE_OPTIONS "/bigobj")
 		endif()
 		target_link_libraries(
-			GameServerWebsocketLockstepTests PRIVATE
-			game_server_core ws2_32 mswsock)
+			GameServerWebsocketLockstepTests PRIVATE game_server_core)
+		if(WIN32)
+			target_compile_definitions(
+				GameServerWebsocketLockstepTests PRIVATE
+				WIN32_LEAN_AND_MEAN _WIN32_WINNT=0x0A00)
+			target_link_libraries(
+				GameServerWebsocketLockstepTests PRIVATE ws2_32 mswsock)
+		endif()
 		add_test(
 			NAME GameServer.WebsocketLockstep
 			COMMAND GameServerWebsocketLockstepTests)
@@ -180,7 +196,7 @@ if(BUILD_TESTING)
 		COMMAND GameServer --ticks 2 --no-sleep)
 	add_test(
 		NAME GameServer.BattleZoneSharedPlayer
-		COMMAND GameServer --campaign battle_zone --location uni_exterior
+		COMMAND GameServer --campaign battle_zone --location park_korea
 			--ticks 2 --no-sleep)
 	set_tests_properties(
 		GameServer.BattleZoneSharedPlayer

server/README.md

@@ -1,11 +1,37 @@
 # Headless GameServer
 
 This target runs the authoritative `InternalGameServer` without SDL, OpenGL,
-audio, Lua, or rendering dependencies. On Windows it exposes a deterministic
-lockstep session through a Boost.Beast WebSocket listener.
+audio, Lua, or rendering dependencies. It exposes a deterministic lockstep
+session through a Boost.Beast WebSocket listener (Windows and Linux).
+
+## Requirements
+
+- CMake >= 3.16, a C++17 compiler (MSVC, or GCC/Clang on Linux)
+- Ubuntu: `sudo apt install build-essential cmake git unzip curl`
+- Internet access on the first configure (see below)
+
+Eigen and Boost are **downloaded automatically** by
+`cmake/FetchDependenciesServer.cmake` into `thirdparty/` the first time CMake
+configures the project (Boost zip is ~200 MB). A system Eigen3 is used if
+installed; Boost is always taken from `thirdparty/boost_1_90_0` so versions match
+the Windows build. Nothing else (SDL, zlib, libzip, ...) is needed.
 
 ## Build
 
+Linux (recommended helper, 1 compile job to stay within low RAM):
+
+```bash
+server/scripts/build.sh            # JOBS=2 server/scripts/build.sh for more
+```
+
+Or manually:
+
+```bash
+cmake -S server -B server/build -DCMAKE_BUILD_TYPE=Release
+cmake --build server/build --target GameServer --parallel 1
+ctest --test-dir server/build --output-on-failure
+```
+
 Windows:
 
 ```powershell
@@ -14,91 +40,126 @@ cmake --build server/build --config Release --target GameServer
 ctest --test-dir server/build -C Release --output-on-failure
 ```
 
-Linux:
+> **Memory note:** compiling Boost.Beast code can use 1-1.5 GB per translation
+> unit. On a small VDS keep `--parallel 1`; if the compiler gets OOM-killed, add
+> temporary swap (`sudo fallocate -l 2G /swapfile && sudo chmod 600 /swapfile &&
+> sudo mkswap /swapfile && sudo swapon /swapfile`). The running server itself
+> needs only a few tens of MB.
+
+After every build the repository's `resources/` directory is copied next to the
+binary (`server/build/resources`, or `server/build/Release/resources` on
+Windows). Content paths are resolved from the process working directory, so the
+server must be started from the directory that contains `resources/`.
+
+## Run
 
 ```bash
-cmake -S server -B server/build -DCMAKE_BUILD_TYPE=Release
-cmake --build server/build --target GameServer --parallel
-ctest --test-dir server/build --output-on-failure
+server/scripts/run-server.sh
 ```
 
-Eigen3 must either be installed or be available at
-`thirdparty/eigen-5.0.0`. The headless target reads ordinary filesystem resources
-only; ZIP-backed campaign loading belongs to the later content-loading
-milestone.
-
-Run until interrupted:
+This does `cd server/build` and runs
 
 ```bash
-./server/build/GameServer
+./GameServer --campaign battle_zone_multiplayer --address 127.0.0.1 --port 8081
 ```
 
-For a multi-configuration Windows build, the executable is normally
-`server/build/Release/GameServer.exe`.
+Environment overrides: `CAMPAIGN`, `LOCATION`, `ADDRESS`, `PORT`, `BUILD_DIR`.
 
-For smoke tests, `--ticks N` limits execution and `--no-sleep` skips the
-real-time delay.
-
-Start the multiplayer lockstep server:
+Windows equivalent:
 
 ```powershell
-.\server\build\Release\GameServer.exe --campaign battle_zone_multiplayer --location uni_exterior
+.\server\build\Release\GameServer.exe --campaign battle_zone_multiplayer
 ```
 
-The listener defaults to `ws://0.0.0.0:8080`. Launch the Windows graphical game
-afterward and select `battle_zone_multiplayer`; that campaign connects to
-`ws://127.0.0.1:8080`. Other campaigns continue to use the in-process server.
+Command line options: `--campaign ID`, `--location ID`, `--campaigns PATH`
+(default `resources/config/campaigns.json`), `--address IP` (default `0.0.0.0`),
+`--port N` (default `8080`), `--ticks N` and `--no-sleep` (smoke tests).
 
 The server sends one state snapshot when a player connects, then broadcasts one
 numbered command bundle every 100 ms. Bundles may be empty. Destination input is
 scheduled two ticks (200 ms) in the future. Tick IDs, rather than server or
 client wall-clock values, define simulation time.
 
-If `--location` is omitted, the campaign's configured start location is used.
-`--campaigns PATH` selects a different campaign registry. Content paths are
-resolved from the process working directory, so run from the repository root
-when using the bundled `resources/` tree.
+## Production deployment (Ubuntu, systemd + nginx)
 
-Available startup options:
+The server listens on loopback only (`127.0.0.1:8081`); nginx terminates TLS and
+proxies WebSocket traffic.
 
-```text
---campaign ID
---location ID
---campaigns PATH
---address IP
---port N
---tick-ms 100
---ticks N
---no-sleep
+### 1. systemd service
+
+```bash
+sudo cp server/deploy/shadow-gameserver.service /etc/systemd/system/
+sudo systemctl daemon-reload
+sudo systemctl enable --now shadow-gameserver
+systemctl status shadow-gameserver
+journalctl -u shadow-gameserver -f        # logs
 ```
 
-Network mode requires a 100 ms tick; another `--tick-ms` value is rejected.
-The selected campaign's `networkPlayerSlots` lists pre-existing character IDs
-assigned to connections in order. `networkCompatibility` is a release token
-that must be changed whenever deterministic content changes; clients reject a
-different token. The bundled multiplayer Battle Zone has two slots (`player`
-and `player2`) and rejects additional clients. Disconnecting
-releases the slot. The bot's random autonomous controller is disabled in
-multiplayer.
+The unit caps memory at 512 MB and restarts on failure. After rebuilding run
+`sudo systemctl restart shadow-gameserver`. Edit `User=`/paths in the unit if the
+repository lives elsewhere. To run a second server, copy the unit with another
+`PORT` (and campaign) and add a matching `/server002/` location.
 
-The graphical client executes presentation behavior after building its runtime
-`Location`; the headless content pass loads authoritative navigation, NPC,
-interactive-object, trigger, teleport, taxi, and animation metadata. Lua and
-dialogue-driven shared multiplayer behavior is not yet supported.
+### 2. nginx
 
-## Tests
+```bash
+sudo cp server/deploy/nginx-api.shadowoverbishkek.com.conf \
+        /etc/nginx/sites-available/api.shadowoverbishkek.com
+sudo ln -s /etc/nginx/sites-available/api.shadowoverbishkek.com \
+           /etc/nginx/sites-enabled/
+sudo nginx -t && sudo systemctl reload nginx
+```
 
-CTest covers:
+`location /server001/` proxies to `http://127.0.0.1:8081/` with WebSocket
+upgrade headers and a 1 hour read/send timeout (the trailing slashes strip the
+`/server001` prefix).
 
-- repeated `LocationGameState::setup()` preserving mutable runtime state;
-- ticking a prepared location with zero players;
-- deterministic fixed-100 ms replay behavior;
-- protocol-v2 parsing, validation, target normalization, state hashing, and
-  two-tick command ordering;
-- a WebSocket initial-state/slot/destination/tick integration test;
-- idle server startup;
-- headless loading of `battle_zone_multiplayer/uni_exterior`.
+### 3. HTTPS certificate
 
-The lockstep implementation currently targets identical executable and content
-builds. Diagnostic state hashes detect divergence, but there is no automatic
-checkpoint resynchronization or reconnect input history yet.
+DNS for `api.shadowoverbishkek.com` must point at the VDS first.
+
+```bash
+sudo certbot --nginx -d api.shadowoverbishkek.com
+```
+
+Certbot issues a Let's Encrypt certificate, adds the `443 ssl` block and an HTTP
+to HTTPS redirect, and installs auto-renewal (`systemctl list-timers | grep certbot`).
+
+## Connecting
+
+Public endpoint: **`wss://api.shadowoverbishkek.com/server001/`**
+
+Handshake check from any machine (expects `HTTP/1.1 101 Switching Protocols`):
+
+```bash
+curl -i -N --max-time 3 \
+  -H "Connection: Upgrade" -H "Upgrade: websocket" \
+  -H "Sec-WebSocket-Version: 13" -H "Sec-WebSocket-Key: x3JJHMbDL1EzLkh9GBhXDw==" \
+  https://api.shadowoverbishkek.com/server001/
+```
+
+Or interactively: `npx wscat -c wss://api.shadowoverbishkek.com/server001/`.
+
+Locally on the VDS, bypassing nginx: `ws://127.0.0.1:8081`.
+
+> **Client limitation:** `src/game_server/WebsocketGameClient.cpp` currently
+> speaks plain `ws://host:port` to `/` (no TLS, no path). Until TLS and path
+> support are added to the client, the graphical game can only connect directly
+> to a non-proxied server (e.g. `ws://127.0.0.1:8080`), not to the `wss://` URL.
+
+## Troubleshooting
+
+- `Animation metadata failed ... Invalid animation file`: the `.anim` files are
+  Git LFS pointer stubs (`version https://git-lfs...`). Fetch the real files with
+  `git lfs pull` (or copy `resources/` from a full checkout) and rebuild.
+- `GameServer.LocationState` test currently fails on every platform: it expects
+  `battle_zone` and `battle_zone_multiplayer` to share a start-state file, but
+  `campaigns.json` points them to different files.
+
+- `Server content setup failed`: the server was not started from the directory
+  containing `resources/` (use `run-server.sh`).
+- `WebSocket listener setup failed`: port already in use (`ss -ltnp | grep 8081`).
+- `502 Bad Gateway` from nginx: service not running (`systemctl status
+  shadow-gameserver`).
+- Connection drops after ~60 s: check `proxy_read_timeout` in the nginx location.
+- Compiler "Killed" / `internal compiler error`: out of memory, see the memory note.

server/deploy/nginx-api.shadowoverbishkek.com.conf

@@ -0,0 +1,47 @@
+# Install to /etc/nginx/sites-available/api.shadowoverbishkek.com and symlink
+# into sites-enabled. Then: sudo certbot --nginx -d api.shadowoverbishkek.com
+server {
+    server_name api.shadowoverbishkek.com;
+
+    access_log /var/log/nginx/api.shadowoverbishkek.com-access.log;
+    error_log  /var/log/nginx/api.shadowoverbishkek.com-error.log;
+
+    # wss://api.shadowoverbishkek.com/server001/  ->  127.0.0.1:8081
+    location /server001/ {
+        proxy_pass http://127.0.0.1:8081/;
+        proxy_http_version 1.1;
+        proxy_set_header Upgrade $http_upgrade;
+        proxy_set_header Connection "upgrade";
+        proxy_set_header Host $host;
+        proxy_set_header X-Real-IP $remote_addr;
+        proxy_set_header X-Forwarded-For $proxy_add_x_forwarded_for;
+        proxy_set_header X-Forwarded-Proto $scheme;
+        proxy_read_timeout 3600s;
+        proxy_send_timeout 3600s;
+    }
+
+    location / {
+        return 404;
+    }
+
+    listen 443 ssl; # managed by Certbot
+    ssl_certificate /etc/letsencrypt/live/api.shadowoverbishkek.com/fullchain.pem; # managed by Certbot
+    ssl_certificate_key /etc/letsencrypt/live/api.shadowoverbishkek.com/privkey.pem; # managed by Certbot
+    include /etc/letsencrypt/options-ssl-nginx.conf; # managed by Certbot
+    ssl_dhparam /etc/letsencrypt/ssl-dhparams.pem; # managed by Certbot
+
+}
+
+server {
+    if ($host = api.shadowoverbishkek.com) {
+        return 301 https://$host$request_uri;
+    } # managed by Certbot
+
+
+    server_name api.shadowoverbishkek.com;
+
+    listen 80;
+    return 404; # managed by Certbot
+
+
+}

server/deploy/shadow-gameserver.service

@@ -0,0 +1,15 @@
+[Unit]
+Description=Shadow Over Bishkek GameServer (server001)
+After=network.target
+
+[Service]
+Type=simple
+User=ubuntu
+ExecStart=/home/ubuntu/shadowoverbishkek-work/shadow-over-bishkek001/server/scripts/run-server.sh
+Environment=PORT=8081
+Restart=on-failure
+RestartSec=3
+MemoryMax=512M
+
+[Install]
+WantedBy=multi-user.target

server/scripts/build.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+# Configure and build the headless GameServer (Release).
+# Usage: server/scripts/build.sh            (uses 1 job: safe for 2 GB RAM hosts)
+#        JOBS=4 server/scripts/build.sh
+set -euo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+cmake -S "$ROOT/server" -B "$ROOT/server/build" -DCMAKE_BUILD_TYPE=Release
+cmake --build "$ROOT/server/build" --target GameServer --parallel "${JOBS:-1}"
+echo "Built: $ROOT/server/build/GameServer"

server/scripts/run-server.sh

@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+# Start the multiplayer GameServer. Listens on loopback only; nginx proxies
+# wss://api.shadowoverbishkek.com/server001/ to it.
+# Overrides: CAMPAIGN, LOCATION, ADDRESS, PORT, BUILD_DIR
+set -euo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+BUILD_DIR="${BUILD_DIR:-$ROOT/server/build}"
+CAMPAIGN="${CAMPAIGN:-battle_zone_multiplayer}"
+ADDRESS="${ADDRESS:-127.0.0.1}"
+PORT="${PORT:-8081}"
+
+# Content paths are resolved from the working directory.
+cd "$BUILD_DIR"
+ARGS=(--campaign "$CAMPAIGN" --address "$ADDRESS" --port "$PORT")
+[ -n "${LOCATION:-}" ] && ARGS+=(--location "$LOCATION")
+exec ./GameServer "${ARGS[@]}"

server/tests/LocationGameStateTests.cpp

@@ -79,7 +79,7 @@ int main()
 		return fail("Battle Zone modes do not share their initial state");
 	}
 	if (multiplayerBattleZoneConfig->networkPlayerSlots.size() != 2 ||
-		multiplayerBattleZoneConfig->networkPlayerSlots[0] != "player" ||
+		multiplayerBattleZoneConfig->networkPlayerSlots[0] != "player1" ||
 		multiplayerBattleZoneConfig->networkPlayerSlots[1] !=
 			"player2" ||
 		multiplayerBattleZoneConfig->networkCompatibility.empty()) {
@@ -140,7 +140,7 @@ int main()
 	disabledPlayer->enabled = false;
 	state.location->targetInteractiveObjectId = "object";
 	state.location->targetInteractNpcId = "npc";
-	FRG::PlayerStateMap disabledPlayers{{"player", disabledPlayer}};
+	FRG::PlayerStateMap disabledPlayers{{"player1", disabledPlayer}};
 	const FRG::LocationSimulationEvents disabledEvents =
 		state.update(50, disabledPlayers, false);
 	if (!disabledEvents.interactiveObjects.empty() ||
@@ -165,7 +165,7 @@ int main()
 	playerTwo->enabled = true;
 	playerTwo->position = {2.f, 0.f, 0.f};
 	FRG::PlayerStateMap combatPlayers{
-		{"player", playerOne}, {"player2", playerTwo}};
+		{"player1", playerOne}, {"player2", playerTwo}};
 
 	state.update(100, combatPlayers, false);
 	if (hostileNpc.attackTargetId != "player2") {
@@ -181,7 +181,7 @@ int main()
 
 	playerTwo->hp = 0.f;
 	state.update(100, combatPlayers, false);
-	if (hostileNpc.attackTargetId != "player") {
+	if (hostileNpc.attackTargetId != "player1") {
 		return fail("Hostile NPC did not acquire a replacement after target death");
 	}
 
@@ -201,7 +201,7 @@ int main()
 	state.npcs["blocker"] = blocker;
 	hostileNpc.position = Eigen::Vector3f::Zero();
 	hostileNpc.homePosition = {5.f, 0.f, 0.f};
-	hostileNpc.attackTargetId = "player";
+	hostileNpc.attackTargetId = "player1";
 	hostileNpc.requestedWalkTarget = playerOne->position;
 	hostileNpc.walkTarget = playerOne->position;
 	hostileNpc.pathWaypoints = {playerOne->position};
@@ -267,22 +267,22 @@ int main()
 	FRG::CampaignConfig multiplayerBattleZone = battleZone;
 	multiplayerBattleZone.id = "battle_zone_multiplayer";
 	multiplayerBattleZone.networkPlayerSlots = {
-		"player", "player2"};
+		"player1", "player2"};
 	networkServer.startCampaign(multiplayerBattleZone, {}, true, false);
 	const auto networkSnapshot = networkServer.snapshot();
 	if (networkSnapshot->campaignId != "battle_zone_multiplayer")
 		return fail("Network campaign ID was not retained");
-	if (networkSnapshot->players.count("player") != 1)
+	if (networkSnapshot->players.count("player1") != 1)
 		return fail("Network campaign shared player was not created");
 	if (networkSnapshot->players.count("player2") != 0)
 		return fail("Network campaign unexpectedly created the test bot");
-	if (networkSnapshot->players.at("player").state.enabled)
+	if (networkSnapshot->players.at("player1").state.enabled)
 		return fail("Network campaign player slot was enabled before connection");
 
 	nlohmann::json loadedNetworkState;
 	networkServer.save(loadedNetworkState);
 	loadedNetworkState["players"]["player2"] =
-		loadedNetworkState["players"]["player"];
+		loadedNetworkState["players"]["player1"];
 	loadedNetworkState["players"]["player2"]["position"] =
 		{4.f, 0.f, 5.f};
 	networkServer.load(loadedNetworkState);
@@ -308,7 +308,7 @@ int main()
 	networkServer.submit(FRG::SetCharacterFacingAngleCommand{
 		locationId, "player2", 1.5f, true});
 	networkServer.submit(FRG::SetCharacterFaceTargetCommand{
-		locationId, "player2", "player"});
+		locationId, "player2", "player1"});
 	networkServer.submit(FRG::SetCharacterEnabledCommand{
 		locationId, "player2", false});
 	const auto commandSnapshot = networkServer.snapshot();
@@ -371,6 +371,7 @@ int main()
 	moving->hp = 10.f;
 	moving->pathWaypoints = {Eigen::Vector3f(8.f, 0.f, 0.f)};
 	moving->movedLastTick = true;
+	moving->attackTargetId = "stationary";
 	FRG::PlayerStateMap occupancyPlayers{
 		{"stationary", stationary}, {"moving", moving}};
 	if (occupancyState.collectPathObstacles(
@@ -378,7 +379,11 @@ int main()
 		occupancyState.collectPathObstacles(
 			"requester", occupancyPlayers, "moving").size() != 2 ||
 		!occupancyState.collectPathObstacles(
-			"stationary", occupancyPlayers).empty()) {
+			"stationary", occupancyPlayers).empty() ||
+		!occupancyState.collectPathObstacles(
+			"moving", occupancyPlayers).empty() ||
+		occupancyState.collectPathObstacles(
+			"moving", occupancyPlayers, "stationary").size() != 1) {
 		return fail("Stationary obstacle collection policy is incorrect");
 	}
 

server/tests/NetworkProtocolTests.cpp

@@ -23,12 +23,12 @@ int main()
 	const nlohmann::json original{
 		{"schemaVersion", 2},
 		{"campaignId", "battle_zone_multiplayer"},
-		{"players", {{"player", {{"hp", 200.0}}}}},
-		{"locations", {{"uni_exterior", {{"state", savedLocationState}}}}}
+		{"players", {{"player1", {{"hp", 200.0}}}}},
+		{"locations", {{"park_korea", {{"state", savedLocationState}}}}}
 	};
 	FRG::InitialStateMessage initial;
 	initial.state = original;
-	initial.assignedPlayerId = "player";
+	initial.assignedPlayerId = "player1";
 	initial.snapshotTick = 42;
 	initial.compatibilityFingerprint = "lockstep-v2:battle_zone_multiplayer";
 	const std::string message = FRG::makeInitialStateMessage(initial);
@@ -40,11 +40,11 @@ int main()
 	require(parsed.state == original, "state payload did not round trip");
 	require(parsed.snapshotTick == 42, "snapshot tick did not round trip");
 	require(
-		parsed.assignedPlayerId == "player",
+		parsed.assignedPlayerId == "player1",
 		"assigned player did not round trip");
 	require(
-		!parsed.state["locations"]["uni_exterior"]["state"].contains("cameraAzimuth") &&
-		!parsed.state["locations"]["uni_exterior"]["state"].contains("cameraInclination"),
+		!parsed.state["locations"]["park_korea"]["state"].contains("cameraAzimuth") &&
+		!parsed.state["locations"]["park_korea"]["state"].contains("cameraInclination"),
 		"local camera state leaked into the network payload");
 
 	FRG::DestinationInputMessage input;
@@ -87,11 +87,11 @@ int main()
 	FRG::TickMessage tick;
 	tick.tickId = 43;
 	tick.commands.push_back(FRG::ScheduledDestinationCommand{
-		1, "player", parsedInput.target});
+		1, "player1", parsedInput.target});
 	tick.commands.push_back(FRG::ScheduledCharacterEnabledCommand{
-		2, "uni_exterior", "player2", true});
+		2, "park_korea", "player2", true});
 	tick.commands.push_back(FRG::ScheduledCharacterActionCommand{
-		3, "player", "set_target", "hostile_npc"});
+		3, "player1", "set_target", "hostile_npc"});
 	tick.stateHash = "0123456789abcdef";
 	FRG::TickMessage parsedTick;
 	require(
@@ -147,9 +147,9 @@ int main()
 
 	FRG::LockstepTimeline timeline(2);
 	const std::uint64_t firstSequence =
-		timeline.schedule("player", Eigen::Vector3f(1.f, 0.f, 1.f));
+		timeline.schedule("player1", Eigen::Vector3f(1.f, 0.f, 1.f));
 	const std::uint64_t secondSequence =
-		timeline.schedule("player_2", Eigen::Vector3f(2.f, 0.f, 2.f));
+		timeline.schedule("player2", Eigen::Vector3f(2.f, 0.f, 2.f));
 	const FRG::TickMessage emptyTick = timeline.advance();
 	require(
 		emptyTick.tickId == 1 && emptyTick.commands.empty(),
@@ -163,8 +163,8 @@ int main()
 			commandTick.commands[1]).commandSequence == secondSequence,
 		"scheduled commands were not finalized in stable order");
 
-	timeline.scheduleCharacterEnabled("uni_exterior", "player2", true);
-	timeline.scheduleCharacterAction("player", "clear_attack_target");
+	timeline.scheduleCharacterEnabled("park_korea", "player2", true);
+	timeline.scheduleCharacterAction("player1", "clear_attack_target");
 	const FRG::TickMessage presenceTick = timeline.advance();
 	require(
 		presenceTick.commands.size() == 1 &&

server/tests/WebsocketLockstepTests.cpp

@@ -59,13 +59,13 @@ int main()
 
 	FRG::CampaignConfig campaign;
 	campaign.id = "test_lockstep";
-	campaign.networkPlayerSlots = {"player", "player2"};
+	campaign.networkPlayerSlots = {"player1", "player2"};
 
 	FRG::InternalGameServer authoritative;
 	authoritative.startCampaign(campaign, {}, true, false);
 	nlohmann::json initialState;
 	authoritative.save(initialState);
-	initialState["players"]["player2"] = initialState["players"]["player"];
+	initialState["players"]["player2"] = initialState["players"]["player1"];
 	FRG::LocationGameState testLocation;
 	auto hostileNpc = std::make_shared<FRG::CharacterState>();
 	hostileNpc->enabled = true;
@@ -77,7 +77,7 @@ int main()
 	initialState["locations"]["test_location"] = std::move(testLocationState);
 	authoritative.load(initialState);
 	FRG::WebsocketGameServer server(
-		authoritative, {"player", "player2"}, "lockstep-v2:test_lockstep",
+		authoritative, {"player1", "player2"}, "lockstep-v2:test_lockstep",
 		"127.0.0.1", 0);
 	auto client = std::make_unique<FRG::WebsocketGameClient>(
 		"127.0.0.1", std::to_string(server.port()), "/");
@@ -91,7 +91,7 @@ int main()
 			return client->initialized();
 		}),
 		"client did not receive initial state");
-	require(client->localPlayerId() == "player", "wrong player slot assigned");
+	require(client->localPlayerId() == "player1", "wrong player slot assigned");
 
 	auto secondClient = std::make_unique<FRG::WebsocketGameClient>(
 		"127.0.0.1", std::to_string(server.port()), "/");
@@ -120,9 +120,9 @@ int main()
 			client->update(0);
 			secondClient->update(0);
 			return client->snapshot()->players.at("player2").state.enabled &&
-				secondClient->snapshot()->players.at("player").state.enabled;
+				secondClient->snapshot()->players.at("player1").state.enabled;
 		}) &&
-		authoritative.snapshot()->players.at("player").state.enabled &&
+		authoritative.snapshot()->players.at("player1").state.enabled &&
 		authoritative.snapshot()->players.at("player2").state.enabled,
 		"connection presence was not broadcast to all replicas");
 
@@ -140,16 +140,16 @@ int main()
 			const auto first = client->snapshot();
 			const auto second = secondClient->snapshot();
 			const auto host = authoritative.snapshot();
-			return first->players.at("player").state.requestedWalkTarget.isApprox(
+			return first->players.at("player1").state.requestedWalkTarget.isApprox(
 					Eigen::Vector3f(1.23f, 0.f, 2.35f)) &&
 				second->players.at("player2").state.requestedWalkTarget.isApprox(
 					Eigen::Vector3f(-1.23f, 0.f, 3.46f)) &&
 				first->players.at("player2").state.requestedWalkTarget.isApprox(
 					second->players.at("player2").state.requestedWalkTarget) &&
-				second->players.at("player").state.requestedWalkTarget.isApprox(
-					first->players.at("player").state.requestedWalkTarget) &&
-				host->players.at("player").state.requestedWalkTarget.isApprox(
-					first->players.at("player").state.requestedWalkTarget) &&
+				second->players.at("player1").state.requestedWalkTarget.isApprox(
+					first->players.at("player1").state.requestedWalkTarget) &&
+				host->players.at("player1").state.requestedWalkTarget.isApprox(
+					first->players.at("player1").state.requestedWalkTarget) &&
 				host->players.at("player2").state.requestedWalkTarget.isApprox(
 					second->players.at("player2").state.requestedWalkTarget);
 		});
@@ -160,9 +160,9 @@ int main()
 		std::cerr << "destination revisions " << first->revision << ", "
 				  << second->revision << ", " << host->revision << "\n"
 				  << "player targets "
-				  << first->players.at("player").state.requestedWalkTarget.transpose()
+				  << first->players.at("player1").state.requestedWalkTarget.transpose()
 				  << " / "
-				  << host->players.at("player").state.requestedWalkTarget.transpose()
+				  << host->players.at("player1").state.requestedWalkTarget.transpose()
 				  << "\nplayer2 targets "
 				  << second->players.at("player2").state.requestedWalkTarget.transpose()
 				  << " / "
@@ -183,11 +183,11 @@ int main()
 		waitFor([&]() {
 			client->update(0);
 			secondClient->update(0);
-			return client->snapshot()->players.at("player").state.attackTargetId ==
+			return client->snapshot()->players.at("player1").state.attackTargetId ==
 					"hostile_npc" &&
-				secondClient->snapshot()->players.at("player").state.attackTargetId ==
+				secondClient->snapshot()->players.at("player1").state.attackTargetId ==
 					"hostile_npc" &&
-				authoritative.snapshot()->players.at("player").state.attackTargetId ==
+				authoritative.snapshot()->players.at("player1").state.attackTargetId ==
 					"hostile_npc";
 		}),
 		"target command was not delayed and rebroadcast");
@@ -202,9 +202,9 @@ int main()
 		waitFor([&]() {
 			client->update(0);
 			secondClient->update(0);
-			return client->snapshot()->players.at("player").state.attackTargetId.empty() &&
-				secondClient->snapshot()->players.at("player").state.attackTargetId.empty() &&
-				authoritative.snapshot()->players.at("player").state.attackTargetId.empty();
+			return client->snapshot()->players.at("player1").state.attackTargetId.empty() &&
+				secondClient->snapshot()->players.at("player1").state.attackTargetId.empty() &&
+				authoritative.snapshot()->players.at("player1").state.attackTargetId.empty();
 		}),
 		"clear attack target command was not delayed and rebroadcast");
 

src/Campaign.cpp

@@ -28,6 +28,12 @@ namespace FRG {
 		return Eigen::Vector3f(j[0].get<float>(), j[1].get<float>(), j[2].get<float>());
 	}
 
+
+	static Vec3fp readVec3fp(const json& j) {
+		if (!j.is_array() || j.size() != 3) return Vec3fp();
+		return Vec3fp(static_cast<fp>(j[0].get<double>()), static_cast<fp>(j[1].get<double>()), static_cast<fp>(j[2].get<double>()));
+	}
+
 	bool LocationConfig::fromFile(const std::string& path, const std::string& zipFile, LocationConfig& out) {
 		json j;
 		if (!parseJsonFile(path, zipFile, j)) return false;
@@ -43,7 +49,7 @@ namespace FRG {
 		out.teleportsJsonPath          = j.value("teleports", "");
 		out.triggerZonesJsonPath       = j.value("triggerZones", "");
 		out.lightsJsonPath             = j.value("lights", "");
-		if (j.contains("playerPosition")) out.playerPosition = readVec3(j["playerPosition"]);
+		if (j.contains("playerPosition")) out.playerPosition = readVec3fp(j["playerPosition"]);
 		out.lockInteractiveObjectsDuringTutorial = j.value("lockInteractiveObjectsDuringTutorial", false);
 		out.loadingScreenPath          = j.value("loadingScreen", "");
 

src/Campaign.h

@@ -5,6 +5,7 @@
 #include <optional>
 #include <string>
 #include <vector>
+#include "navigation/PathFinder.h"
 
 namespace FRG {
 
@@ -21,7 +22,7 @@ namespace FRG {
 		std::string teleportsJsonPath;
 		std::string triggerZonesJsonPath;
 		std::string lightsJsonPath;
-		Eigen::Vector3f playerPosition = Eigen::Vector3f::Zero();
+		Vec3fp playerPosition;
 
 		// Where the taxi drives in when the player calls it. No taxi when absent.
 		struct Taxi {

src/Character.cpp

@@ -42,19 +42,9 @@ bool Character::isMoving() const {
     return state && state->isMoving();
 }
 
-Eigen::Vector3f Character::getRequestedWalkTarget() const {
-    auto state = stateSnapshot();
-    return state ? state->getRequestedWalkTarget() : Eigen::Vector3f::Zero();
-}
-
-Eigen::Vector3f Character::getCurrentNavigationTarget() const {
-    auto state = stateSnapshot();
-    return state ? state->getCurrentNavigationTarget() : Eigen::Vector3f::Zero();
-}
-
 Eigen::Vector3f Character::renderPosition() const {
     auto state = stateSnapshot();
-    return state ? interpolatedState(*state).position : Eigen::Vector3f::Zero();
+    return state ? interpolatedState(*state).position.toEigen() : Eigen::Vector3f::Zero();
 }
 
 float Character::getHp() const {
@@ -181,8 +171,8 @@ CharacterState Character::interpolatedState(const CharacterState& state) const {
     const float alpha = (std::max)(0.0f, (std::min)(1.0f, elapsedMs / kSimulationTickMs));
 
     CharacterState result = state;
-    result.position = previousPresentationSample_.position +
-        alpha * (currentPresentationSample_.position - previousPresentationSample_.position);
+    result.position = Vec3fp::fromEigen(previousPresentationSample_.position +
+        alpha * (currentPresentationSample_.position - previousPresentationSample_.position));
 
     constexpr float kPi = 3.14159265358979323846f;
     constexpr float kTwoPi = 2.0f * kPi;
@@ -190,7 +180,7 @@ CharacterState Character::interpolatedState(const CharacterState& state) const {
         previousPresentationSample_.facingAngle;
     while (angleDelta > kPi) angleDelta -= kTwoPi;
     while (angleDelta < -kPi) angleDelta += kTwoPi;
-    result.facingAngle = previousPresentationSample_.facingAngle + alpha * angleDelta;
+    result.facingAngle = static_cast<fp>(previousPresentationSample_.facingAngle + alpha * angleDelta);
     if (previousPresentationSample_.currentState == state.currentState &&
         currentPresentationSample_.currentState == state.currentState) {
         float previousFrame = previousPresentationSample_.animationFrame;
@@ -235,8 +225,8 @@ void Character::update(int64_t deltaMs, const CharacterUpdateEvents* events) {
 
     const auto now = std::chrono::steady_clock::now();
     PresentationSample sample;
-    sample.position = state.position;
-    sample.facingAngle = state.facingAngle;
+    sample.position = state.position.toEigen();
+    sample.facingAngle = static_cast<float>(state.facingAngle);
     sample.animationFrame = state.animationFrame;
     sample.currentState = state.currentState;
     sample.enabled = state.enabled;
@@ -299,8 +289,8 @@ void Character::draw(Renderer& renderer) {
         Environment::CONST_Z_NEAR, Environment::CONST_Z_FAR);
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
 
@@ -353,8 +343,8 @@ void Character::drawGpuSkinning(Renderer& renderer, const CharacterState& state)
         Environment::CONST_Z_NEAR, Environment::CONST_Z_FAR);
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
 
@@ -417,8 +407,8 @@ void Character::drawAttachedWeapon(Renderer& renderer, const CharacterState& sta
     Eigen::Matrix4f currentBone = anim.gpuSkinningShaderData.skinningMatrices[boneIdx] * bindBone;
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
     renderer.TranslateMatrix(Eigen::Vector3f(currentBone.block<3, 1>(0, 3)));
@@ -452,8 +442,8 @@ void Character::drawShadowDepthCpu(Renderer& renderer, const CharacterState& sta
     if (it == animations.end()) return;
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
 
@@ -488,8 +478,8 @@ void Character::drawShadowDepthGpuSkinning(Renderer& renderer, const CharacterSt
     renderer.shaderManager.PushShader(shadowSkinningShader);
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
 
@@ -561,8 +551,8 @@ void Character::drawCpuWithShadow(Renderer& renderer, const CharacterState& stat
         Environment::CONST_Z_NEAR, Environment::CONST_Z_FAR);
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
 
@@ -623,8 +613,8 @@ void Character::drawGpuSkinningWithShadow(Renderer& renderer, const CharacterSta
         Environment::CONST_Z_NEAR, Environment::CONST_Z_FAR);
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
 
@@ -726,8 +716,8 @@ void Character::drawNightGpuSkinning(Renderer& renderer,
         Environment::CONST_Z_NEAR, Environment::CONST_Z_FAR);
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
 
@@ -798,8 +788,8 @@ void Character::drawNightCpu(Renderer& renderer,
         Environment::CONST_Z_NEAR, Environment::CONST_Z_FAR);
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
 
@@ -900,8 +890,8 @@ void Character::drawNightGpuSkinningWithShadow(Renderer& renderer,
         Environment::CONST_Z_NEAR, Environment::CONST_Z_FAR);
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
 
@@ -985,8 +975,8 @@ void Character::drawNightCpuWithShadow(Renderer& renderer,
         Environment::CONST_Z_NEAR, Environment::CONST_Z_FAR);
 
     renderer.PushMatrix();
-    renderer.TranslateMatrix({ state.position.x(), state.position.y(), state.position.z() });
-    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-state.facingAngle, Eigen::Vector3f::UnitY())).toRotationMatrix());
+    renderer.TranslateMatrix({ static_cast<float>(state.position.x), static_cast<float>(state.position.y), static_cast<float>(state.position.z) });
+    renderer.RotateMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(-static_cast<float>(state.facingAngle), Eigen::Vector3f::UnitY())).toRotationMatrix());
     renderer.ScaleMatrix(state.modelScale);
     renderer.RotateMatrix(state.modelCorrectionRotation.toRotationMatrix());
 
@@ -1027,7 +1017,7 @@ void Character::setupHitSparks(std::shared_ptr<Texture> sparkTexture) {
 }
 
 void Character::presentDamage(float hp, float maxHp,
-                              const Eigen::Vector3f& attackDirection,
+                              const Vec3fp& attackDirection,
                               const std::string& attackerId) {
     if (onHpChanged)
         onHpChanged(hp, maxHp, attackerId);
@@ -1037,9 +1027,9 @@ void Character::presentDamage(float hp, float maxHp,
     if (!stateSnapshot) return;
     const CharacterState& state = *stateSnapshot;
 
-    Eigen::Vector3f emitPos = state.position + Eigen::Vector3f(0.f, 1.f, 0.f);
+    Eigen::Vector3f emitPos = state.position.toEigen() + Eigen::Vector3f(0.f, 1.f, 0.f);
     hitSparkEmitter.resetEmissionPoints({ emitPos });
-    hitSparkEmitter.setEmissionDirection(attackDirection);
+    hitSparkEmitter.setEmissionDirection(attackDirection.toEigen());
 
     static std::mt19937 gen(std::random_device{}());
     std::uniform_int_distribution<int> countDist(10, 15);
@@ -1065,7 +1055,7 @@ static void drawCharacterNameLabel(
     if (!state.enabled || state.hp <= 0.f || displayName.empty()) return;
 
     Eigen::Vector4f worldPos(
-        state.position.x(), state.position.y() + 1.83f, state.position.z(), 1.f);
+        static_cast<float>(state.position.x), static_cast<float>(state.position.y) + 1.83f, static_cast<float>(state.position.z), 1.f);
     Eigen::Vector4f clip = projectionMatrix * cameraViewMatrix * worldPos;
     if (clip.w() <= 0.f) return;
 
@@ -1126,7 +1116,7 @@ void Character::drawHealthBar(Renderer& renderer,
     if (state.hp <= 0.f) return;
     if (state.initialHp <= 0.f) return;
 
-    Eigen::Vector4f worldPos(state.position.x(), state.position.y() + 1.75f, state.position.z(), 1.f);
+    Eigen::Vector4f worldPos(static_cast<float>(state.position.x), static_cast<float>(state.position.y) + 1.75f, static_cast<float>(state.position.z), 1.f);
     Eigen::Vector4f clip = projectionMatrix * cameraViewMatrix * worldPos;
     if (clip.w() <= 0.f) return;
     float ndcX = clip.x() / clip.w();

src/Character.h

@@ -55,7 +55,7 @@ public:
     void update(int64_t deltaMs, const CharacterUpdateEvents* events = nullptr);
 
     // ---- Damage ----
-    void presentDamage(float hp, float maxHp, const Eigen::Vector3f& attackDirection,
+    void presentDamage(float hp, float maxHp, const Vec3fp& attackDirection,
                        const std::string& attackerId);
 
     // ---- Spark setup ----
@@ -93,8 +93,6 @@ public:
 
     // ---- Query helpers (read immutable snapshots) ----
     bool            isMoving() const;
-    Eigen::Vector3f getRequestedWalkTarget() const;
-    Eigen::Vector3f getCurrentNavigationTarget() const;
     Eigen::Vector3f renderPosition() const;
     float           getHp() const;
 

src/CharacterState.cpp

@@ -9,7 +9,13 @@ namespace {
 // Tick counts are authoritative and therefore independent of render rate.
 constexpr float ATTACK_COOLDOWN_TIME = 1.6f;
 constexpr float HOME_DRIFT_CHECK_INTERVAL = 5.0f;
+fp HOME_DRIFT_CHECK_INTERVAL_FP = static_cast<fp>(HOME_DRIFT_CHECK_INTERVAL);
 constexpr float TARGET_REPLAN_THRESHOLD = 0.25f;
+
+fp TARGET_REPLAN_THRESHOLD_SQUARED = static_cast<fp>(TARGET_REPLAN_THRESHOLD * TARGET_REPLAN_THRESHOLD);
+
+
+
 constexpr float PI = 3.14159265358979323846f;
 constexpr int BLOCKED_REPLAN_TICKS = 3;
 
@@ -25,8 +31,8 @@ std::uint32_t stableIdHash(const std::string& value)
 }
 
 void CharacterState::configureAsPlayer() {
-    walkSpeed = 3.0f;
-    rotationSpeed = 8.0f;
+    walkSpeed = static_cast<fp>(3.0f);
+    rotationSpeed = static_cast < fp>(8.0f);
     modelScale = 1.f;
     modelCorrectionRotation = Eigen::Quaternionf(
         Eigen::AngleAxisf(PI, Eigen::Vector3f::UnitY()) *
@@ -66,12 +72,12 @@ void CharacterState::scheduleNextNavigationRetry()
 }
 
 bool CharacterState::isMoving() const {
-    Eigen::Vector3f toTarget = walkTarget - position;
-    toTarget.y() = 0.f;
-    return !pathWaypoints.empty() || toTarget.norm() > kWalkThreshold;
+    Vec3fp toTarget = walkTarget - position;
+    toTarget.y = static_cast<fp>(0.f);
+    return !pathWaypoints.empty() || toTarget.normSquared() > kWalkThreshold_SQUARED();
 }
 
-Eigen::Vector3f CharacterState::getCurrentNavigationTarget() const {
+Vec3fp CharacterState::getCurrentNavigationTarget() const {
     if (!pathWaypoints.empty() && currentWaypointIndex < pathWaypoints.size()) {
         return pathWaypoints[currentWaypointIndex];
     }
@@ -79,32 +85,34 @@ Eigen::Vector3f CharacterState::getCurrentNavigationTarget() const {
 }
 
 void CharacterState::stopInPlace() {
-    walkTarget          = Eigen::Vector3f(position.x(), 0.f, position.z());
+    walkTarget          = Vec3fp(position.x, static_cast<fp>(0.f), position.z);
     requestedWalkTarget = walkTarget;
     pathWaypoints.clear();
     currentWaypointIndex = 0;
     onArrivedCallbackName.clear();
     movementBlockedTicks = 0;
     navigationRetryTicks = 0;
-    blockingCharacterId.clear();
+    velocity = Vec2fp(fp(0), fp(0));
+    preferredVelocity = Vec2fp(fp(0), fp(0));
 }
 
 void CharacterState::setTarget(
-    const Eigen::Vector3f& target,
+    const Vec3fp& target,
     std::string callbackName,
     const LocationNetworkState& location,
-    const std::string& entityId,
-    const std::vector<PathFinder::DynamicObstacle>& dynamicObstacles)
+    const std::string& entityId)
 {
-    const Eigen::Vector3f normalizedTarget(target.x(), 0.f, target.z());
+
+
+    const Vec3fp normalizedTarget(target.x, static_cast<fp>(0.f), target.z);
     const bool sameRequestedTarget =
-        (normalizedTarget - requestedWalkTarget).norm() <= TARGET_REPLAN_THRESHOLD;
+        (normalizedTarget - requestedWalkTarget).normSquared() <= TARGET_REPLAN_THRESHOLD_SQUARED;
     const bool alreadyMovingToTarget =
         !pathWaypoints.empty() ||
-        (walkTarget - normalizedTarget).norm() <= TARGET_REPLAN_THRESHOLD;
+        (walkTarget - normalizedTarget).normSquared() <= TARGET_REPLAN_THRESHOLD_SQUARED;
     const bool stoppedAfterFailedPath =
         pathWaypoints.empty() &&
-        (walkTarget - position).norm() <= TARGET_REPLAN_THRESHOLD;
+        (walkTarget - position).normSquared() <= TARGET_REPLAN_THRESHOLD_SQUARED;
     if (callbackName.empty() && sameRequestedTarget &&
         (alreadyMovingToTarget || stoppedAfterFailedPath)) {
         return;
@@ -114,44 +122,62 @@ void CharacterState::setTarget(
     onArrivedCallbackName = std::move(callbackName);
     movementBlockedTicks = 0;
     navigationRetryTicks = 0;
-    blockingCharacterId.clear();
-    pathWaypoints = location.navigationMaps.empty()
-        ? std::vector<Eigen::Vector3f>{}
-        : location.planPathExceptMyself(
-            position, normalizedTarget, entityId, dynamicObstacles);
-    currentWaypointIndex = 0;
+    
+    // В setTarget и forceReplan:
+    if (location.activeNavigationIndex < 0 ||
+        location.activeNavigationIndex >= static_cast<int>(location.navigationMaps.size())) {
+        walkTarget = Vec3fp(position.x, static_cast<fp>(0.f), position.z);
+        return;
+    }
+
+    pathWaypoints = location.navigationMaps[location.activeNavigationIndex]
+        .findPathToNearest(this->position, normalizedTarget);
+
+    // Сразу целимся во второй элемент (индекс 1), так как индекс 0 — это точка старта
+    currentWaypointIndex = (pathWaypoints.size() > 1) ? 1 : 0;
+
     if (!pathWaypoints.empty()) {
-        for (Eigen::Vector3f& waypoint : pathWaypoints) waypoint.y() = 0.f;
+        for (Vec3fp& waypoint : pathWaypoints)
+        {
+            waypoint.y = static_cast<fp>(0.f);
+        }
         walkTarget = pathWaypoints.back();
         return;
     }
 
-    walkTarget = Eigen::Vector3f(position.x(), 0.f, position.z());
+    walkTarget = Vec3fp(position.x, static_cast<fp>(0.f), position.z);
     if (!isPlayer) scheduleNextNavigationRetry();
 }
 
 void CharacterState::forceReplan(
     const LocationNetworkState& location,
-    const std::string& entityId,
-    const std::vector<PathFinder::DynamicObstacle>& dynamicObstacles)
+    const std::string& entityId)
 {
-    const Eigen::Vector3f normalizedTarget(
-        requestedWalkTarget.x(), 0.f, requestedWalkTarget.z());
-    pathWaypoints = location.navigationMaps.empty()
-        ? std::vector<Eigen::Vector3f>{}
-        : location.planPathExceptMyself(
-            position, normalizedTarget, entityId, dynamicObstacles);
-    currentWaypointIndex = 0;
-    movementBlockedTicks = 0;
-    navigationRetryTicks = 0;
-    if (!pathWaypoints.empty()) {
-        for (Eigen::Vector3f& waypoint : pathWaypoints) waypoint.y() = 0.f;
-        walkTarget = pathWaypoints.back();
-        blockingCharacterId.clear();
+    const Vec3fp normalizedTarget(
+        requestedWalkTarget.x, static_cast<fp>(0.f), requestedWalkTarget.z);
+
+    if (location.activeNavigationIndex < 0 ||
+        location.activeNavigationIndex >= static_cast<int>(location.navigationMaps.size())) {
+        walkTarget = Vec3fp(position.x, static_cast<fp>(0.f), position.z);
         return;
     }
 
-    walkTarget = Eigen::Vector3f(position.x(), 0.f, position.z());
+    pathWaypoints = location.navigationMaps[location.activeNavigationIndex]
+        .findPathToNearest(this->position, normalizedTarget);
+
+    currentWaypointIndex = (pathWaypoints.size() > 1) ? 1 : 0;
+    movementBlockedTicks = 0;
+    navigationRetryTicks = 0;
+
+    if (!pathWaypoints.empty()) {
+        for (Vec3fp& waypoint : pathWaypoints) {
+            waypoint.y = static_cast<fp>(0.f);
+        }
+        walkTarget = pathWaypoints.back();
+        return;
+    }
+
+    walkTarget = Vec3fp(position.x, static_cast<fp>(0.f), position.z);
     if (!isPlayer) scheduleNextNavigationRetry();
 }
 
@@ -213,145 +239,134 @@ CharacterUpdateEvents CharacterState::update(
         attack = 0;
         attackTargetId.clear();
     } else {
-        const float distance = (attackTarget->position - position).norm();
-        if (distance >= visibleRange) {
-            if ((attackTarget->position - requestedWalkTarget).norm() >
-                TARGET_REPLAN_THRESHOLD) {
+        const fp distanceSquared = (attackTarget->position - position).normSquared();
+        if (distanceSquared >= visibleRange* visibleRange) {
+            if ((attackTarget->position - requestedWalkTarget).normSquared() >
+                TARGET_REPLAN_THRESHOLD_SQUARED) {
                 events.navigationRequested = true;
                 events.navigationTarget = attackTarget->position;
             }
             battle_state = 0;
-        } else if (distance >= 1.25f) {
-            if ((attackTarget->position - requestedWalkTarget).norm() > TARGET_REPLAN_THRESHOLD) {
+        } else if (distanceSquared >= static_cast<fp>(1.25f*1.25f)) {
+            if ((attackTarget->position - requestedWalkTarget).normSquared() > TARGET_REPLAN_THRESHOLD_SQUARED) {
                 events.navigationRequested = true;
                 events.navigationTarget = attackTarget->position;
             }
             battle_state = 0;
         } else {
             battle_state = 1;
+            velocity = Vec2fp(fp(0), fp(0));
         }
     }
 
-    const Eigen::Vector3f activeTarget = getCurrentNavigationTarget();
-    const Eigen::Vector3f lookTarget =
-        battle_state == 1 && attackTarget ? attackTarget->position : activeTarget;
+    const Vec3fp activeTarget = getCurrentNavigationTarget();
 
-    if (currentState == AnimationState::WALK || currentState == AnimationState::STAND) {
-        Eigen::Vector3f toTarget = activeTarget - position;
-        toTarget.y() = 0.f;
-        const float distance = toTarget.norm();
-        if (distance > kWalkThreshold) {
-            const Eigen::Vector3f direction = toTarget / distance;
-            const float moveAmount = walkSpeed * static_cast<float>(deltaMs) / 1000.f;
-            Eigen::Vector3f candidate =
-                moveAmount >= distance ? activeTarget : position + direction * moveAmount;
-            candidate.y() = 0.f;
-            const CharacterMovementObstacle* blocker = nullptr;
-            if (context.movementObstacles) {
-                for (const CharacterMovementObstacle& obstacle :
-                     *context.movementObstacles) {
-                    if (obstacle.id == context.characterId) continue;
-                    Eigen::Vector3f startDelta = position - obstacle.position;
-                    Eigen::Vector3f endDelta = candidate - obstacle.position;
-                    startDelta.y() = 0.f;
-                    endDelta.y() = 0.f;
-                    const float minimumDistance =
-                        movementContactRadius + obstacle.radius;
-                    const float minimumDistanceSq =
-                        minimumDistance * minimumDistance;
-                    const Eigen::Vector3f segment = candidate - position;
-                    const float segmentLengthSq =
-                        segment.x() * segment.x() + segment.z() * segment.z();
-                    float t = 0.f;
-                    if (segmentLengthSq > 1e-8f) {
-                        t = -(startDelta.x() * segment.x() +
-                              startDelta.z() * segment.z()) / segmentLengthSq;
-                        t = (std::max)(0.f, (std::min)(1.f, t));
-                    }
-                    Eigen::Vector3f closest = startDelta + segment * t;
-                    closest.y() = 0.f;
-                    const bool movingCloser =
-                        endDelta.squaredNorm() + 1e-6f < startDelta.squaredNorm();
-                    if (movingCloser &&
-                        closest.squaredNorm() < minimumDistanceSq) {
-                        blocker = &obstacle;
-                        break;
-                    }
-                }
-            }
-            if (blocker) {
-                blockingCharacterId = blocker->id;
-                currentState = AnimationState::STAND;
-                const bool sameDirection =
-                    blocker->moving &&
-                    blocker->movementDirection.dot(direction) > 0.5f;
-                if (sameDirection) {
-                    movementBlockedTicks = 0;
-                } else if (++movementBlockedTicks >= BLOCKED_REPLAN_TICKS) {
-                    if (isPlayer) {
-                        stopInPlace();
-                    } else {
-                        pathWaypoints.clear();
-                        currentWaypointIndex = 0;
-                        walkTarget =
-                            Eigen::Vector3f(position.x(), 0.f, position.z());
-                        movementBlockedTicks = 0;
-                        scheduleNextNavigationRetry();
-                        navigationPausedThisTick = true;
-                    }
-                }
-            } else {
-                movedLastTick =
-                    (candidate - position).squaredNorm() > 1e-8f;
-                position = candidate;
-                movementBlockedTicks = 0;
-                blockingCharacterId.clear();
-            }
-            targetFacingAngle = std::atan2(direction.x(), -direction.z());
-            if (!blocker) currentState = AnimationState::WALK;
-        } else {
-            currentState = AnimationState::STAND;
-            const bool completedPath = !pathWaypoints.empty();
-            const bool hasNextWaypoint =
-                !pathWaypoints.empty() && currentWaypointIndex + 1 < pathWaypoints.size();
-            if (hasNextWaypoint) {
+    preferredVelocity = Vec2fp(fp(0), fp(0));
+
+    if (hp > 0.f && battle_state == 0 && !pathWaypoints.empty() &&
+        (currentState == AnimationState::WALK || currentState == AnimationState::STAND))
+    {
+        // Если мы уже достигли промежуточного waypoint'а, сразу переключаемся на следующий в этом же тике
+        while (!pathWaypoints.empty() && currentWaypointIndex + 1 < pathWaypoints.size()) {
+            Vec3fp diff = pathWaypoints[currentWaypointIndex] - position;
+            diff.y = fp(0);
+            if (diff.normSquared() <= kWalkThreshold_SQUARED()) {
                 ++currentWaypointIndex;
-            } else {
-                pathWaypoints.clear();
-                currentWaypointIndex = 0;
-                if (completedPath &&
-                    (requestedWalkTarget - position).norm() >
-                        TARGET_REPLAN_THRESHOLD &&
-                    !isPlayer)
-                    scheduleNextNavigationRetry();
-                if (completedPath && !onArrivedCallbackName.empty()) {
-                    events.arrivedCallbackName = onArrivedCallbackName;
-                    onArrivedCallbackName.clear();
-                }
+            }
+            else {
+                break;
+            }
+        }
+
+        const Vec3fp currentTarget = getCurrentNavigationTarget();
+        Vec3fp toTarget = currentTarget - position;
+        toTarget.y = fp(0);
+        const fp distanceSquared = toTarget.normSquared();
+
+        if (distanceSquared > kWalkThreshold_SQUARED()) {
+            const fp distance = fpm::sqrt(distanceSquared);
+            const fp dtSec = static_cast<fp>(deltaMs) / fp(1000);
+
+            fp desiredSpeed = distance / dtSec;
+            if (desiredSpeed > walkSpeed) {
+                desiredSpeed = walkSpeed;
             }
 
+            preferredVelocity = Vec2fp(
+                (toTarget.x / distance) * desiredSpeed,
+                (toTarget.z / distance) * desiredSpeed
+            );
+
+            // Если стартуем с места — сразу целим поворот на точку, 
+            // а в движении угол скорректирует Фаза 3 по реальному вектору ORCA (newVel)
+            if (velocity.lengthSq() <= static_cast<fp>(0.05f)) {
+                targetFacingAngle = fpm::atan2(toTarget.x, -toTarget.z);
+            }
+        }
+        else {
+            // Дошли до ФИНАЛЬНОЙ точки маршрута
+            velocity = Vec2fp(fp(0), fp(0));
+            if (currentState == AnimationState::WALK) {
+                currentState = AnimationState::STAND;
+                resetAnim = true;
+            }
+            const bool completedPath = !pathWaypoints.empty();
+            pathWaypoints.clear();
+            currentWaypointIndex = 0;
+
+            if (completedPath &&
+                (requestedWalkTarget - position).normSquared() > TARGET_REPLAN_THRESHOLD_SQUARED &&
+                !isPlayer) {
+                scheduleNextNavigationRetry();
+            }
+            if (completedPath && !onArrivedCallbackName.empty()) {
+                events.arrivedCallbackName = onArrivedCallbackName;
+                onArrivedCallbackName.clear();
+            }
             if (faceTarget) {
-                Eigen::Vector3f toFace = faceTarget->position - position;
-                toFace.y() = 0.f;
-                const float distanceToFace = toFace.norm();
-                targetFacingAngle = distanceToFace > 1e-3f
-                    ? std::atan2(toFace.x() / distanceToFace, -toFace.z() / distanceToFace)
+                Vec3fp toFace = faceTarget->position - position;
+                toFace.y = fp(0);
+                const fp distanceToFace = fpm::sqrt(toFace.normSquared());
+                targetFacingAngle = distanceToFace > static_cast<fp>(1e-3f)
+                    ? fpm::atan2(toFace.x / distanceToFace, -toFace.z / distanceToFace)
                     : facingAngle;
-            } else if (!faceTargetId.empty()) {
+            }
+            else if (!faceTargetId.empty()) {
                 faceTargetId.clear();
             }
         }
     }
+    else if (hp > 0.f && battle_state == 0 && pathWaypoints.empty() &&
+        (currentState == AnimationState::WALK || currentState == AnimationState::STAND))
+    {
+        // Маршрута нет — стоим на месте и при необходимости поворачиваемся к faceTarget
+        velocity = Vec2fp(fp(0), fp(0));
+        if (currentState == AnimationState::WALK) {
+            currentState = AnimationState::STAND;
+            resetAnim = true;
+        }
+        if (faceTarget) {
+            Vec3fp toFace = faceTarget->position - position;
+            toFace.y = fp(0);
+            const fp distanceToFace = fpm::sqrt(toFace.normSquared());
+            targetFacingAngle = distanceToFace > static_cast<fp>(1e-3f)
+                ? fpm::atan2(toFace.x / distanceToFace, -toFace.z / distanceToFace)
+                : facingAngle;
+        }
+        else if (!faceTargetId.empty()) {
+            faceTargetId.clear();
+        }
+    }
+
     
     if (!isPlayer && !navigationPausedThisTick && pathWaypoints.empty() &&
-        (requestedWalkTarget - position).norm() > TARGET_REPLAN_THRESHOLD &&
+        (requestedWalkTarget - position).normSquared() > TARGET_REPLAN_THRESHOLD_SQUARED &&
         !events.navigationRequested) {
         if (navigationRetryTicks > 0) --navigationRetryTicks;
         if (navigationRetryTicks == 0) {
             events.navigationRequested = true;
             events.forceNavigationReplan = true;
             events.navigationTarget = requestedWalkTarget;
-            events.blockingCharacterId = blockingCharacterId;
         }
     }
 
@@ -362,9 +377,11 @@ CharacterUpdateEvents CharacterState::update(
             resetAnim = true;
             attackTargetId.clear();
         }
-    } else if (battle_state == 1 && attackTarget) {
-        targetFacingAngle = std::atan2(
-            lookTarget.x() - position.x(), -(lookTarget.z() - position.z()));
+    }
+    else if (battle_state == 1 && attackTarget) {
+        targetFacingAngle = fpm::atan2(
+            attackTarget->position.x - position.x, -(attackTarget->position.z - position.z));
+
         if (currentState == AnimationState::STAND || currentState == AnimationState::WALK) {
             currentState = AnimationState::STAND_TO_ACTION;
             resetAnim = true;
@@ -388,24 +405,25 @@ CharacterUpdateEvents CharacterState::update(
         resetAnim = true;
     }
 
-    float angleDiff = targetFacingAngle - facingAngle;
-    while (angleDiff > PI) angleDiff -= 2.f * PI;
-    while (angleDiff < -PI) angleDiff += 2.f * PI;
-    const float rotationStep = rotationSpeed * static_cast<float>(deltaMs) / 1000.f;
-    if (std::fabs(angleDiff) <= rotationStep) {
+    fp angleDiff = targetFacingAngle - facingAngle;
+    const fp PIfp = static_cast<fp>(PI);
+    while (angleDiff > PIfp) angleDiff -= static_cast<fp>(2.f) * PIfp;
+    while (angleDiff < -PIfp) angleDiff += static_cast<fp>(2.f) * PIfp;
+    const fp rotationStep = rotationSpeed * static_cast<fp>(deltaMs) / static_cast<fp>(1000.f);
+    if (fpm::abs(angleDiff) <= rotationStep) {
         facingAngle = targetFacingAngle;
         faceTargetId.clear();
     } else {
-        facingAngle += angleDiff > 0.f ? rotationStep : -rotationStep;
+        facingAngle += angleDiff > static_cast<fp>(0.f) ? rotationStep : -rotationStep;
     }
 
-    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) {
+    if (!isPlayer && hp > 0.f && battle_state == 0 && maxHomeDriftSquared > static_cast<fp>(0.f)) {
+        homeDriftCheckTimer -= static_cast<fp>(deltaMs) / static_cast<fp>(1000.f);
+        if (homeDriftCheckTimer <= static_cast <fp>(0.f)) {
+            homeDriftCheckTimer = HOME_DRIFT_CHECK_INTERVAL_FP;
+            Vec3fp toHome = homePosition - position;
+            toHome.y = static_cast<fp>(0.f);
+            if (!isMoving() && toHome.normSquared() > maxHomeDriftSquared) {
                 events.navigationRequested = true;
                 events.navigationTarget = homePosition;
             }
@@ -428,10 +446,18 @@ CharacterUpdateEvents CharacterState::update(
         events.attackImpact = true;
         events.attackTargetId = attackTargetId;
         events.attackDirection = attackTarget->position - position;
-        events.attackDirection.y() = 0.f;
-        const float length = events.attackDirection.norm();
-        if (length > 1e-3f) events.attackDirection /= length;
-        else events.attackDirection = Eigen::Vector3f::Zero();
+        events.attackDirection.y = static_cast<fp>(0.f);
+        const fp lengthSquared = events.attackDirection.normSquared(); 
+        if (lengthSquared > static_cast<fp>(0.001f))
+        {
+            const fp length = fpm::sqrt(lengthSquared); //FP SQRT
+
+            events.attackDirection = events.attackDirection / length;
+        }
+        else
+        {
+            events.attackDirection = Vec3fp{};
+        }
     }
 
     showWeapon =
@@ -467,9 +493,9 @@ CharacterUpdateEvents CharacterState::update(
 
 void CharacterState::save(nlohmann::json& out) const
 {
-    out["position"]           = { position.x(), position.y(), position.z() };
-    out["facingAngle"]        = facingAngle;
-    out["targetFacingAngle"]  = targetFacingAngle;
+    out["position"]           = { static_cast<double>(position.x), static_cast<double>(position.y), static_cast<double>(position.z) };
+    out["facingAngle"]        = static_cast<double>(facingAngle);
+    out["targetFacingAngle"]  = static_cast<double>(targetFacingAngle);
     out["hp"]                 = hp;
     out["enabled"]            = enabled;
     out["battle_state"]       = battle_state;
@@ -478,25 +504,24 @@ void CharacterState::save(nlohmann::json& out) const
     out["showWeapon"]         = showWeapon;
     out["attackTargetId"]     = attackTargetId;
     out["faceTargetId"]       = faceTargetId;
-    out["homePosition"]       = { homePosition.x(), homePosition.y(), homePosition.z() };
-    out["walkTarget"]         = { walkTarget.x(), walkTarget.y(), walkTarget.z() };
-    out["requestedWalkTarget"] = { requestedWalkTarget.x(), requestedWalkTarget.y(), requestedWalkTarget.z() };
+    out["homePosition"]       = { static_cast<double>(homePosition.x), static_cast<double>(homePosition.y), static_cast<double>(homePosition.z) };
+    out["walkTarget"]         = { static_cast<double>(walkTarget.x), static_cast<double>(walkTarget.y), static_cast<double>(walkTarget.z) };
+    out["requestedWalkTarget"] = { static_cast<double>(requestedWalkTarget.x), static_cast<double>(requestedWalkTarget.y), static_cast<double>(requestedWalkTarget.z) };
     nlohmann::json wpArr = nlohmann::json::array();
     for (const auto& wp : pathWaypoints) {
-        wpArr.push_back({ wp.x(), wp.y(), wp.z() });
+        wpArr.push_back({ static_cast<double>(wp.x), static_cast<double>(wp.y), static_cast<double>(wp.z) });
     }
     out["pathWaypoints"]        = std::move(wpArr);
     out["currentWaypointIndex"] = currentWaypointIndex;
-    out["homeDriftCheckTimer"]  = homeDriftCheckTimer;
+    out["homeDriftCheckTimer"]  = static_cast<double>(homeDriftCheckTimer);
     out["movementBlockedTicks"] = movementBlockedTicks;
     out["navigationRetryTicks"] = navigationRetryTicks;
     out["movedLastTick"] = movedLastTick;
     out["navigationRetryCooldownTicks"] = navigationRetryCooldownTicks;
     out["navigationRetryCooldownIndex"] = navigationRetryCooldownIndex;
-    if (!blockingCharacterId.empty())
-        out["blockingCharacterId"] = blockingCharacterId;
+
     out["animationFrame"]       = animationFrame;
-    out["visibleRange"]         = visibleRange;
+    out["visibleRange"]         = static_cast<double>(visibleRange);
     if (!onArrivedCallbackName.empty())
         out["onArrivedCallbackName"] = onArrivedCallbackName;
 }
@@ -509,11 +534,19 @@ void CharacterState::load(const nlohmann::json& in)
         return def;
     };
 
-    if (in.contains("position"))            position           = readVec3(in["position"], position);
-    facingAngle        = in.value("facingAngle",       facingAngle);
-    targetFacingAngle  = in.value("targetFacingAngle", targetFacingAngle);
+    auto readVec3fp = [](const nlohmann::json& j, Vec3fp def) -> Vec3fp {
+        if (j.is_array() && j.size() == 3)
+            return Vec3fp{ static_cast<fp>(j[0].get<double>()), static_cast<fp>(j[1].get<double>()), static_cast<fp>(j[2].get<double>()) };
+        return def;
+        };
+
+    if (in.contains("position")) { 
+        position = readVec3fp(in["position"], position); 
+    }
+    facingAngle        = static_cast<fp>(in.value("facingAngle",       static_cast<double>(facingAngle)));
+    targetFacingAngle  = static_cast<fp>(in.value("targetFacingAngle", static_cast<double>(targetFacingAngle)));
     hp                 = in.value("hp",                hp);
-    visibleRange       = in.value("visibleRange",      visibleRange);
+    visibleRange       = static_cast<fp>(in.value("visibleRange", static_cast<double>(visibleRange)));
     enabled            = in.value("enabled",           enabled);
     battle_state       = in.value("battle_state",      battle_state);
     currentState       = static_cast<AnimationState>(in.value("currentState", static_cast<int>(currentState)));
@@ -521,17 +554,17 @@ void CharacterState::load(const nlohmann::json& in)
     showWeapon         = in.value("showWeapon",        showWeapon);
     attackTargetId = in.value("attackTargetId", attackTargetId);
     faceTargetId   = in.value("faceTargetId",   faceTargetId);
-    if (in.contains("homePosition"))        homePosition       = readVec3(in["homePosition"], homePosition);
-    if (in.contains("walkTarget"))          walkTarget         = readVec3(in["walkTarget"], walkTarget);
-    if (in.contains("requestedWalkTarget")) requestedWalkTarget = readVec3(in["requestedWalkTarget"], requestedWalkTarget);
+    if (in.contains("homePosition"))        homePosition       = readVec3fp(in["homePosition"], homePosition);
+    if (in.contains("walkTarget"))          walkTarget         = readVec3fp(in["walkTarget"], walkTarget);
+    if (in.contains("requestedWalkTarget")) requestedWalkTarget = readVec3fp(in["requestedWalkTarget"], requestedWalkTarget);
     pathWaypoints.clear();
     if (in.contains("pathWaypoints") && in["pathWaypoints"].is_array()) {
         for (const auto& wp : in["pathWaypoints"]) {
-            pathWaypoints.push_back(readVec3(wp, Eigen::Vector3f::Zero()));
+            pathWaypoints.push_back(readVec3fp(wp, Vec3fp()));
         }
     }
     currentWaypointIndex = in.value("currentWaypointIndex", currentWaypointIndex);
-    homeDriftCheckTimer  = in.value("homeDriftCheckTimer",  homeDriftCheckTimer);
+    homeDriftCheckTimer  = static_cast<fp>(in.value("homeDriftCheckTimer", static_cast<double>(homeDriftCheckTimer)));
     movementBlockedTicks = in.value("movementBlockedTicks", movementBlockedTicks);
     navigationRetryTicks = in.value("navigationRetryTicks", navigationRetryTicks);
     movedLastTick = in.value("movedLastTick", movedLastTick);
@@ -541,8 +574,6 @@ void CharacterState::load(const nlohmann::json& in)
         "navigationRetryCooldownIndex", navigationRetryCooldownIndex);
     if (!navigationRetryCooldownTicks.empty())
         navigationRetryCooldownIndex %= navigationRetryCooldownTicks.size();
-    blockingCharacterId =
-        in.value("blockingCharacterId", std::string());
     animationFrame      = in.value("animationFrame", animationFrame);
     onArrivedCallbackName = in.value("onArrivedCallbackName", std::string());
 }

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;
@@ -89,14 +92,14 @@ public:
     bool showWeapon = true;
 
     // --- Stable character references ---
-    // Empty means no target. "player" is the campaign player; NPC IDs are
+    // Empty means no target. "player1" is the campaign player; NPC IDs are
     // location-local and validated while loading location content.
     std::string attackTargetId;
     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
@@ -106,29 +109,33 @@ 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;
-    // Smaller physical contact threshold used by the movement guard.
-    float movementContactRadius = 0.32f;
-    float interactionRadius = 0.0f;
+
+    fp collisionRadius = static_cast<fp>(0.4f); // Радиус капсулы персонажа
+
+    // Векторы скорости в плоскости XZ (сериализовать в JSON не обязательно, если считаются каждый тик, 
+    // но для строгого lockstep-снапшота velocity лучше сохранять)
+    Vec2fp velocity{ fp(0), fp(0) };          // Реальная скорость с прошлого тика (нужна соседям в ORCA)
+    Vec2fp preferredVelocity{ fp(0), fp(0) }; // Желаемая скорость к waypoint'у на текущем тике
+
+    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;
     std::vector<int> navigationRetryCooldownTicks;
     std::size_t navigationRetryCooldownIndex = 0;
 
@@ -145,19 +152,15 @@ 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,
-                                     const std::vector<PathFinder::DynamicObstacle>&
-                                         dynamicObstacles = {});
+                                     const std::string& entityId);
     void                   forceReplan(const LocationNetworkState& location,
-                                       const std::string& entityId,
-                                       const std::vector<PathFinder::DynamicObstacle>&
-                                           dynamicObstacles = {});
+                                       const std::string& entityId);
     void                   stopAndRotateToTarget(std::string characterId);
     void                   resetPlayerAfterDeath();
     void                   tryAttackCombo();
@@ -177,23 +180,14 @@ 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 {
@@ -201,11 +195,11 @@ struct CharacterUpdateEvents {
     bool deathAnimationComplete = false;
     bool navigationRequested = false;
     bool forceNavigationReplan = false;
-    Eigen::Vector3f navigationTarget = Eigen::Vector3f::Zero();
-    std::string blockingCharacterId;
+    Vec3fp navigationTarget;
+
     std::string arrivedCallbackName;
     std::string attackTargetId;
-    Eigen::Vector3f attackDirection = Eigen::Vector3f::Zero();
+    Vec3fp attackDirection;
 };
 
 } // namespace FRG

src/Game.cpp

@@ -558,8 +558,10 @@ namespace FRG
 			logger() << "[network] Campaign '" << campaignId
 				<< "' selected; creating WebSocket client" << std::endl;
 			// Use "ws://127.0.0.1:8080/" for a local development server.
-			static const char* const kMultiplayerServerUrl =
-				"wss://api.shadowoverbishkek.com/server001/";
+			
+			static const char* const kMultiplayerServerUrl = "wss://api.shadowoverbishkek.com/server001/";
+			//static const char* const kMultiplayerServerUrl = "ws://127.0.0.1:8080/";
+
 			WebsocketEndpoint endpoint;
 			if (!endpoint.parse(kMultiplayerServerUrl)) {
 				logger() << "[network] Invalid multiplayer server URL: "
@@ -662,9 +664,9 @@ namespace FRG
 			if (!loc) return;
 			if (loc->player) {
 				server().submit(SetCharacterPositionCommand{
-					destName, loc->player->entityId(), destPos});
+					destName, loc->player->entityId(), Vec3fp::fromEigen(destPos)});
 				server().submit(SetCharacterFacingAngleCommand{
-					destName, loc->player->entityId(), destRotY, true});
+					destName, loc->player->entityId(), static_cast<fp>(destRotY), true});
 				loc->stopCharacter(*loc->player);
 			}
 			loc->localState().cameraAzimuth = destRotY;

src/Location.cpp

@@ -126,7 +126,7 @@ namespace FRG
 	}
 
 	void Location::setCharacterTarget(
-		Character& character, const Eigen::Vector3f& target, std::string callbackName)
+		Character& character, const Vec3fp& target, std::string callbackName)
 	{
 		gameServer_.submit(SetCharacterDestinationCommand{
 			locationId_, character.entityId(), target, std::move(callbackName)});
@@ -851,8 +851,8 @@ namespace FRG
 						float t0 = (worldMin[axis] - rayOrigin[axis]) * invD;
 						float t1 = (worldMax[axis] - rayOrigin[axis]) * invD;
 						if (invD < 0.0f) std::swap(t0, t1);
-						tMin = max(tMin, t0);
-						tMax = min(tMax, t1);
+						tMin = std::max(tMin, t0);
+						tMax = std::min(tMax, t1);
 						if (tMax < tMin) { miss = true; break; }
 					}
 				}
@@ -1597,7 +1597,7 @@ namespace FRG
 		if (playerState && !pointLights.empty()) {
 			float minDist = FLT_MAX;
 			for (int i = 0; i < static_cast<int>(pointLights.size()); ++i) {
-				const float d = (pointLights[i].position - playerState->position).norm();
+				const float d = (pointLights[i].position - playerState->position.toEigen()).norm();
 				if (d < minDist) { minDist = d; nearestLightIdx = i; }
 			}
 		}
@@ -1611,12 +1611,12 @@ namespace FRG
 			if (!active && playerState) {
 				if (pl.autoLightLimitX > 0.0f && pl.autoLightLimitY > 0.0f) {
 					// Rectangular activation zone — independent of nearest-light heuristic
-					const float dx = std::abs(playerState->position.x() - pl.position.x());
-					const float dz = std::abs(playerState->position.z() - pl.position.z());
+					const float dx = std::abs(static_cast<float>(playerState->position.x) - pl.position.x());
+					const float dz = std::abs(static_cast<float>(playerState->position.z) - pl.position.z());
 					active = (dx <= pl.autoLightLimitX && dz <= pl.autoLightLimitY);
 				} else {
 					// only the nearest autoLight activates, with optional distance cap
-					const float dist = (pl.position - playerState->position).norm();
+					const float dist = (pl.position - playerState->position.toEigen()).norm();
 					active = (i == nearestLightIdx) &&
 					         (pl.autoLightDistance <= 0.0f || dist <= pl.autoLightDistance);
 				}
@@ -1632,7 +1632,7 @@ namespace FRG
 		if (playerState && !activeLightIndices.empty()) {
 			float minDist = FLT_MAX;
 			for (int idx : activeLightIndices) {
-				const float d = (pointLights[idx].position - playerState->position).norm();
+				const float d = (pointLights[idx].position - playerState->position.toEigen()).norm();
 				if (d < minDist) { minDist = d; shadowLight = &pointLights[idx]; }
 			}
 		}
@@ -1838,50 +1838,18 @@ namespace FRG
 			state->activeNavigationIndex >= static_cast<int>(state->navigationMaps.size())) {
 			return false;
 		}
-		const auto& areas =
-			state->navigationMaps[state->activeNavigationIndex].getAreas();
-		const bool found = std::any_of(
-			areas.begin(), areas.end(),
-			[&](const PathFinder::NavigationArea& area) {
-				return area.name == areaName;
-			});
-		if (!found) return false;
+		const auto& area =
+			state->navigationMaps[state->activeNavigationIndex].getArea();
+		if (area.name != areaName)
+		{
+			return false;
+		}
+
 		gameServer_.submit(SetNavigationAreaAvailableCommand{
 			locationId_, areaName, available});
 		return true;
 	}
 
-	void Location::nudgeCharacterAside(Character* standing, const Eigen::Vector3f& awayFrom)
-	{
-		auto standingState = standing ? standing->stateSnapshot() : nullptr;
-		if (!standingState || standingState->isPlayer) return;
-		auto locationState = stateSnapshot();
-		if (!locationState || locationState->activeNavigationIndex < 0 ||
-			locationState->activeNavigationIndex >=
-				static_cast<int>(locationState->navigationMaps.size())) return;
-		const PathFinder& navigation =
-			locationState->navigationMaps[locationState->activeNavigationIndex];
-		if (navigation.isReady()) return;
-
-		static constexpr float kNudgeDist = 1.2f;
-
-		Eigen::Vector3f dir = standingState->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 = standingState->position + rotated * kNudgeDist;
-			candidate.y() = 0.f;
-			if (navigation.isWalkable(candidate)) {
-				setCharacterTarget(*standing, candidate);
-				return;
-			}
-		}
-	}
-
 	void Location::update(int64_t delta, const LocationSimulationEvents& events)
 	{
 		synchronizeRemotePlayers();
@@ -1952,7 +1920,7 @@ namespace FRG
 			player->update(delta, eventFor(gameServer_.localPlayerId()));
 			auto playerState = player->stateSnapshot();
 			if (playerState && playerState->enabled)
-				updateTriggerZones(playerState->position);
+				updateTriggerZones(playerState->position.toEigen());
 		}
 		for (auto& [id, remote] : remotePlayers_)
 			if (remote) remote->update(delta, eventFor(id));
@@ -1989,7 +1957,7 @@ namespace FRG
 		auto playerState = player ? player->stateSnapshot() : nullptr;
 		if (auto* tz = getTargetTeleportZone(*locationState);
 			tz && playerState && playerState->enabled) {
-			float dist = (playerState->position - tz->position).norm();
+			float dist = (playerState->position.toEigen() - tz->position).norm();
 			if (dist <= tz->radius) {
 				logger() << "[TELEPORT] Player reached teleport zone '" << tz->id << "'" << std::endl;
 				gameServer_.submit(SetLocationTargetsCommand{
@@ -2006,7 +1974,7 @@ namespace FRG
 			for (auto& tz : teleportZones) {
 				if (!tz.active || !tz.automatic) continue;
 				const float autoR = tz.automaticRadius > 0.0f ? tz.automaticRadius : tz.radius;
-				const float dist = (playerState->position - tz.position).norm();
+				const float dist = (playerState->position.toEigen() - tz.position).norm();
 
 				if (!tz.automaticInitialized) {
 					// If the player starts inside the zone (e.g. just arrived here via teleport),
@@ -2102,7 +2070,7 @@ namespace FRG
 			const Eigen::Vector3f interactionTarget = clickedObject->state.hasInteractionPosition
 				? clickedObject->state.interactionPosition
 				: clickedObject->state.position;
-			setCharacterTarget(*player, interactionTarget);
+			setCharacterTarget(*player, Vec3fp::fromEigen(interactionTarget));
 			pathVisualization.start(*player, interactionTarget);
 			clearCharacterAttackTarget(*player);
 			//logger() << "[CLICK] Player moving to object..." << std::endl;
@@ -2115,7 +2083,7 @@ namespace FRG
 			if (clickedNpc && player) {
 				auto clickedNpcState = clickedNpc->stateSnapshot();
 				if (!clickedNpcState) return;
-				float distance = (playerState->position - clickedNpcState->position).norm();
+				float distance = (playerState->position - clickedNpcState->position).toEigen().norm();
 				int npcIndex = -1;
 				for (size_t i = 0; i < npcs.size(); ++i) {
 					if (npcs[i].get() == clickedNpc) {
@@ -2145,11 +2113,11 @@ namespace FRG
 							setCharacterTarget(*player, clickedNpcState->position);
 							pathVisualization.start(
 								*player,
-								clickedNpcState->position,
+								clickedNpcState->position.toEigen(),
 								PathVisualization::Style::Hostile);
 						}
 
-						if (distance <= clickedNpcState->interactionRadius) {
+						if (distance <= static_cast<float>(clickedNpcState->interactionRadius)) {
 							//logger() << "[CLICK] Hostile NPC " << npcIndex << " in range; firing on_npc_interact" << std::endl;
 							scriptEngine.callNpcInteractCallback(clickedNpc->entityId());
 						}
@@ -2173,7 +2141,7 @@ namespace FRG
 							//logger() << "[CLICK] NPC " << npcIndex << " out of talk range (distance " << distance
 							//	<< " > " << NPC_TALK_DISTANCE << "); walking to NPC..." << std::endl;
 							setCharacterTarget(*player, clickedNpcState->position);
-							pathVisualization.start(*player, clickedNpcState->position);
+							pathVisualization.start(*player, clickedNpcState->position.toEigen());
 							gameServer_.submit(SetLocationTargetsCommand{
 								locationId_, std::string(), clickedNpc->entityId(),
 								std::string()});
@@ -2200,7 +2168,7 @@ namespace FRG
 					gameServer_.submit(SetLocationTargetsCommand{
 						locationId_, std::string(), std::string(),
 						clickedTeleport->id});
-					setCharacterTarget(*player, clickedTeleport->position);
+					setCharacterTarget(*player, Vec3fp::fromEigen(clickedTeleport->position));
 					pathVisualization.start(
 						*player,
 						clickedTeleport->position,
@@ -2208,7 +2176,7 @@ namespace FRG
 					clearCharacterAttackTarget(*player);
 				} else {
 					const Eigen::Vector3f clickedDestination(hit.x(), 0.f, hit.z());
-					setCharacterTarget(*player, clickedDestination);
+					setCharacterTarget(*player, Vec3fp::fromEigen(clickedDestination));
 					pathVisualization.start(*player, clickedDestination);
 					clearCharacterAttackTarget(*player);
 					gameServer_.submit(SetLocationTargetsCommand{
@@ -2253,7 +2221,7 @@ namespace FRG
 			const float minInclination = M_PI * 30.f / 180.f;
 			const float maxInclination = M_PI * 0.5f;
 			localState_->cameraInclination =
-				max(minInclination, min(maxInclination, inclination));
+				std::max(minInclination, std::min(maxInclination, inclination));
 		}
 	}
 

src/Location.h

@@ -64,7 +64,7 @@ namespace FRG
 		std::string teleportsJsonPath;
 		std::string triggerZonesJsonPath;
 		std::string lightsJsonPath;
-		Eigen::Vector3f playerPosition = Eigen::Vector3f::Zero();
+		Vec3fp playerPosition;
 		// Player shared by all locations of a campaign (see Location::createPlayer);
 		// setup() creates a private one when this is null.
 		std::shared_ptr<Character> player;
@@ -174,7 +174,7 @@ namespace FRG
 		void setup(const LocationSetup& params, AudioPlayerAsync* audioPlayer);
 		//void setupNavigation(const std::vector<std::string>& paths);
 		bool switchNavigation(int index);
-		void setCharacterTarget(Character& character, const Eigen::Vector3f& target,
+		void setCharacterTarget(Character& character, const Vec3fp& target,
 			std::string callbackName = "");
 		void clearCharacterAttackTarget(Character& character);
 		void stopCharacter(Character& character);
@@ -259,7 +259,6 @@ namespace FRG
 		void loadTriggerZones(const std::string& jsonPath, const char* zipFile);
 		void loadPointLights(const std::string& jsonPath, const char* zipFile);
 		void updateTriggerZones(const Eigen::Vector3f& playerPos);
-		void nudgeCharacterAside(Character* standing, const Eigen::Vector3f& awayFrom);
 		void captureAuxiliaryState(LocationGameState& out) const;
 		void applyAuxiliaryState(const LocationGameState& in);
 

src/LocationEditor.cpp

@@ -30,12 +30,12 @@ namespace FRG
             state->activeNavigationIndex >= static_cast<int>(state->navigationMaps.size())) return;
         const PathFinder& navigation =
             state->navigationMaps[state->activeNavigationIndex];
-        const float y = navigation.getFloorY() + 0.02f;
+        const float y = static_cast<float>(navigation.getFloorY()) + 0.02f;
         const Eigen::Vector3f red(1.0f, 0.0f, 0.0f);
         for (const auto& obs : navigation.getObstaclePolygons()) {
             if (obs.polygon.size() < 3) continue;
             VertexRenderStruct mesh;
-            mesh.data = CreatePolygonFloor(obs.polygon, y, red);
+            mesh.data = CreatePolygonFloor(toEigenVector(obs.polygon), y, red);
             mesh.RefreshVBO();
             navigationEditorNavMeshes.push_back(std::move(mesh));
         }
@@ -60,7 +60,7 @@ namespace FRG
         if (!state || state->activeNavigationIndex < 0 ||
             state->activeNavigationIndex >= static_cast<int>(state->navigationMaps.size())) return;
         const float y =
-            state->navigationMaps[state->activeNavigationIndex].getFloorY() + 0.05f;
+            static_cast<float>(state->navigationMaps[state->activeNavigationIndex].getFloorY()) + 0.05f;
         const float s = 0.2f;
 
         for (const auto& pt : navigationEditorPoints) {
@@ -133,7 +133,7 @@ namespace FRG
         PathFinder::ObstaclePolygon poly;
         poly.name = "editor_obstacle_" + std::to_string(++navigationEditorObstacleCounter);
         for (const auto& pt : navigationEditorPoints) {
-            poly.polygon.emplace_back(pt.x(), pt.z());
+            poly.polygon.emplace_back(static_cast<FRG::fp>(pt.x()), static_cast<FRG::fp>(pt.z()));
         }
 
         loc.gameServer_.submit(AddNavigationObstacleCommand{
@@ -146,10 +146,10 @@ namespace FRG
             if (!state || state->activeNavigationIndex < 0 ||
                 state->activeNavigationIndex >= static_cast<int>(state->navigationMaps.size())) return;
             const float y =
-                state->navigationMaps[state->activeNavigationIndex].getFloorY() + 0.02f;
+                static_cast<float>(state->navigationMaps[state->activeNavigationIndex].getFloorY()) + 0.02f;
             const Eigen::Vector3f red(1.0f, 0.0f, 0.0f);
             VertexRenderStruct mesh;
-            mesh.data = CreatePolygonFloor(poly.polygon, y, red);
+            mesh.data = CreatePolygonFloor(toEigenVector(poly.polygon), y, red);
             mesh.RefreshVBO();
             navigationEditorNavMeshes.push_back(std::move(mesh));
         }
@@ -379,9 +379,9 @@ namespace FRG
 
             auto& target = loc.interactiveObjects[selectedInteractiveObjectIndex];
             target.state.boundsMin = Eigen::Vector3f(
-                min(localA.x(), localB.x()), 0.f, min(localA.z(), localB.z()));
+                std::min(localA.x(), localB.x()), 0.f, std::min(localA.z(), localB.z()));
             target.state.boundsMax = Eigen::Vector3f(
-                max(localA.x(), localB.x()), 1.f, max(localA.z(), localB.z()));
+                std::max(localA.x(), localB.x()), 1.f, std::max(localA.z(), localB.z()));
 
             boundsClickCount = 0;
             buildInteractiveObjectBoundsMeshes();
@@ -484,9 +484,9 @@ namespace FRG
         data.rotationZ   = 0.0f;
         auto playerState = loc.player ? loc.player->stateSnapshot() : nullptr;
         if (!playerState) return;
-        data.positionX   = playerState->position.x();
-        data.positionY = playerState->position.y();//-0.1;
-        data.positionZ   = playerState->position.z();
+        data.positionX   = static_cast<float>(playerState->position.x);
+        data.positionY = static_cast<float>(playerState->position.y);
+        data.positionZ   = static_cast<float>(playerState->position.z);
         data.scale       = scaleDist(rng);
 
         GameObjectData data2;

src/LocationGameState.cpp

@@ -2,6 +2,7 @@
 #include <algorithm>
 #include <cmath>
 #include <stdexcept>
+#include "OrcaSolver.h"
 
 namespace FRG {
 
@@ -126,34 +127,9 @@ const CharacterState* LocationGameState::findCharacter(
 	return nullptr;
 }
 
-std::vector<PathFinder::DynamicObstacle> LocationGameState::collectPathObstacles(
-	const std::string& requesterId,
-	const PlayerStateMap& players,
-	const std::string& forcedObstacleId) const
-{
-	std::vector<std::pair<std::string, const CharacterState*>> characters;
-	characters.reserve(players.size() + npcs.size());
-	for (const auto& [id, character] : players)
-		if (character) characters.emplace_back(id, character.get());
-	for (const auto& [id, character] : npcs)
-		if (character) characters.emplace_back(id, character.get());
-	std::sort(characters.begin(), characters.end(),
-		[](const auto& lhs, const auto& rhs) { return lhs.first < rhs.first; });
-
-	std::vector<PathFinder::DynamicObstacle> obstacles;
-	obstacles.reserve(characters.size());
-	for (const auto& [id, character] : characters) {
-		if (id == requesterId || !character->enabled || character->hp <= 0.f)
-			continue;
-		if (character->movedLastTick && id != forcedObstacleId) continue;
-		obstacles.push_back({character->position, character->collisionRadius});
-	}
-	return obstacles;
-}
-
 bool LocationGameState::setCharacterDestination(
 	const std::string& id,
-	const Eigen::Vector3f& target,
+	const Vec3fp& target,
 	std::string callbackName,
 	PlayerStateMap& players,
 	const std::string& forcedObstacleId)
@@ -161,54 +137,18 @@ bool LocationGameState::setCharacterDestination(
 	CharacterState* character = findCharacter(id, players);
 	if (!character || !location) return false;
 	character->setTarget(
-		target, std::move(callbackName), *location, id,
-		collectPathObstacles(id, players, forcedObstacleId));
+		target, std::move(callbackName), *location, id);
 	return true;
 }
 
 bool LocationGameState::replanCharacter(
 	const std::string& id,
-	PlayerStateMap& players,
-	const std::string& forcedObstacleId)
+	PlayerStateMap& players)
 {
 	CharacterState* character = findCharacter(id, players);
 	if (!character || !location) return false;
-	if (!forcedObstacleId.empty() && !character->isPlayer &&
-		character->canAttack && character->hp > 0.f) {
-		const std::string selectedTarget =
-			selectNpcTarget(*character, players, false);
-		if (selectedTarget != character->attackTargetId) {
-			character->stopInPlace();
-			character->attackTargetId = selectedTarget;
-			character->battle_state = 0;
-			character->attack = 0;
-		}
 
-		if (!selectedTarget.empty()) {
-			const CharacterState* target = findCharacter(selectedTarget, players);
-			if (target) {
-				character->setTarget(
-					target->position, {}, *location, id,
-					collectPathObstacles(id, players, forcedObstacleId));
-				return true;
-			}
-		}
-
-		character->attackTargetId.clear();
-		character->battle_state = 0;
-		character->attack = 0;
-		const Eigen::Vector3f homeTarget(
-			character->homePosition.x(), 0.f, character->homePosition.z());
-		if ((homeTarget - character->position).norm() >
-			CharacterState::kWalkThreshold) {
-			character->setTarget(
-				homeTarget, {}, *location, id,
-				collectPathObstacles(id, players, forcedObstacleId));
-		}
-		return true;
-	}
-	character->forceReplan(
-		*location, id, collectPathObstacles(id, players, forcedObstacleId));
+	character->forceReplan(*location, id);
 	return true;
 }
 
@@ -231,14 +171,14 @@ std::string LocationGameState::selectNpcTarget(
 			playerIds.push_back(id);
 	std::sort(playerIds.begin(), playerIds.end());
 
-	const float visibleRangeSquared = npc.visibleRange * npc.visibleRange;
+	const fp visibleRangeSquared = npc.visibleRange * npc.visibleRange;
 	std::string selectedTarget;
-	float nearestDistanceSquared = visibleRangeSquared;
+	fp nearestDistanceSquared = visibleRangeSquared;
 	for (const std::string& playerId : playerIds) {
-		const Eigen::Vector3f delta =
+		const Vec3fp delta =
 			players.at(playerId)->position - npc.position;
-		const float distanceSquared =
-			delta.x() * delta.x() + delta.z() * delta.z();
+		const fp distanceSquared =
+			delta.x * delta.x + delta.z * delta.z;
 		if (distanceSquared <= nearestDistanceSquared &&
 			(selectedTarget.empty() ||
 			 distanceSquared < nearestDistanceSquared ||
@@ -362,12 +302,19 @@ LocationSimulationEvents LocationGameState::update(
 	std::int64_t deltaMs, PlayerStateMap& players, bool interactiveObjectsLocked)
 {
 	LocationSimulationEvents result;
+
+	//Taxi cars update:
 	result.taxiArrived = updateNpcCar(deltaMs);
+
+	//Interactive objects update:
 	std::vector<std::string> objectIds;
 	objectIds.reserve(interactiveObjects.size());
 	for (const auto& [id, object] : interactiveObjects)
+	{
 		if (object) objectIds.push_back(id);
+	}
 	std::sort(objectIds.begin(), objectIds.end());
+
 	for (const std::string& id : objectIds) {
 		InteractiveObjectUpdateEvents events =
 			interactiveObjects.at(id)->update(deltaMs);
@@ -376,35 +323,49 @@ LocationSimulationEvents LocationGameState::update(
 			{id, std::move(events.onCompleteName), false, {}});
 	}
 
-	// All characters observe the same tick-start state. Damage is applied only
-	// after every state has advanced, so vector order cannot suppress an attack.
+	//Character update:
+	const fp dtSec = static_cast<fp>(deltaMs) / fp(1000);
+
+	// 1. Собираем всех персонажей в единый массив и сортируем по ID
+	// (чтобы даже порядок вызовов CharacterState::update был строго детерминирован!)
+	struct Entry {
+		std::string id;
+		CharacterState* state;
+	};
+	std::vector<Entry> allChars;
+	allChars.reserve(players.size() + npcs.size());
+
+	for (auto& [id, ptr] : players) {
+		if (ptr && ptr->enabled) allChars.push_back({ id, ptr.get() });
+	}
+	for (auto& [id, ptr] : npcs) {
+		if (ptr && ptr->enabled) allChars.push_back({ id, ptr.get() });
+	}
+	std::sort(allChars.begin(), allChars.end(), [](const Entry& a, const Entry& b) {
+		return a.id < b.id;
+		});
+
 	std::unordered_map<std::string, CharacterObservation> observations;
 	for (const auto& [id, player] : players)
 		if (player && player->enabled)
 			observations.emplace(
-				id, CharacterObservation{player->position, player->hp});
+				id, CharacterObservation{ player->position, player->hp });
 	for (const auto& [id, npc] : npcs)
 		if (npc && npc->enabled)
 			observations.emplace(
-				id, CharacterObservation{npc->position, npc->hp});
+				id, CharacterObservation{ npc->position, npc->hp });
 
-	std::vector<std::string> playerIds;
-	playerIds.reserve(players.size());
-	for (const auto& [id, player] : players)
-		if (player) playerIds.push_back(id);
-	std::sort(playerIds.begin(), playerIds.end());
-
-	std::vector<std::string> npcIds;
-	npcIds.reserve(npcs.size());
-	for (const auto& [id, npc] : npcs)
-		if (npc) npcIds.push_back(id);
-	std::sort(npcIds.begin(), npcIds.end());
 
 	// Target selection is authoritative and runs before all characters observe
 	// the tick. A valid target is a lock: it is retained until the player dies
 	// or becomes disabled, even when the player leaves visibleRange.
-	for (const std::string& id : npcIds) {
-		CharacterState& npc = *npcs.at(id);
+	for (auto& entry : allChars) {
+		if (entry.state->isPlayer)
+		{
+			continue;
+		}
+
+		CharacterState& npc = *entry.state;
 		if (!npc.enabled || !npc.canAttack || npc.hp <= 0.f)
 			continue;
 
@@ -420,88 +381,105 @@ LocationSimulationEvents LocationGameState::update(
 		if (selectedTarget.empty()) {
 			npc.battle_state = 0;
 			npc.attack = 0;
-			const Eigen::Vector3f homeTarget(
-				npc.homePosition.x(), 0.f, npc.homePosition.z());
-			const Eigen::Vector3f toHome = homeTarget - npc.position;
-			if (toHome.norm() > CharacterState::kWalkThreshold &&
-				(npc.requestedWalkTarget - homeTarget).norm() >
-					CharacterState::kWalkThreshold) {
-				setCharacterDestination(id, homeTarget, {}, players);
+			const Vec3fp homeTarget(
+				npc.homePosition.x, static_cast<fp>(0.f), npc.homePosition.z);
+			const Vec3fp toHome = homeTarget - npc.position;
+			if (toHome.normSquared() > CharacterState::kWalkThreshold_SQUARED() &&
+				(npc.requestedWalkTarget - homeTarget).normSquared() >
+				CharacterState::kWalkThreshold_SQUARED()) {
+				setCharacterDestination(entry.id, homeTarget, {}, players);
 			}
 		}
 	}
 
-	std::vector<CharacterMovementObstacle> movementObstacles;
-	movementObstacles.reserve(playerIds.size() + npcIds.size());
-	auto addMovementObstacle =
-		[&movementObstacles](const std::string& id,
-							 const CharacterState& character) {
-			Eigen::Vector3f direction =
-				character.getCurrentNavigationTarget() - character.position;
-			direction.y() = 0.f;
-			const float length = direction.norm();
-			if (length > CharacterState::kWalkThreshold) direction /= length;
-			else direction = Eigen::Vector3f::Zero();
-			movementObstacles.push_back({
-				id,
-				character.position,
-				character.movementContactRadius,
-				character.movedLastTick,
-				direction});
-		};
-	for (const std::string& id : playerIds) {
-		const CharacterState& character = *players.at(id);
-		if (character.enabled && character.hp > 0.f)
-			addMovementObstacle(id, character);
-	}
-	for (const std::string& id : npcIds) {
-		const CharacterState& character = *npcs.at(id);
-		if (character.enabled && character.hp > 0.f)
-			addMovementObstacle(id, character);
-	}
-	// One global ID order also makes blocker selection deterministic.
-	std::sort(
-		movementObstacles.begin(), movementObstacles.end(),
-		[](const CharacterMovementObstacle& lhs,
-		   const CharacterMovementObstacle& rhs) { return lhs.id < rhs.id; });
-
-	auto advance = [&](const std::string& id, CharacterState& state) {
+	// 2. ФАЗА 1: Обновляем логику каждого персонажа (вычисляется preferredVelocity)
+	for (auto& entry : allChars) {
 		CharacterUpdateContext context;
-		context.characterId = id;
-		context.movementObstacles = &movementObstacles;
-		auto attack = observations.find(state.attackTargetId);
+		context.characterId = entry.id;
+
+
+		auto attack = observations.find(entry.state->attackTargetId);
 		if (attack != observations.end()) context.attackTarget = &attack->second;
-		auto face = observations.find(state.faceTargetId);
+		auto face = observations.find(entry.state->faceTargetId);
 		if (face != observations.end()) context.faceTarget = &face->second;
-		CharacterUpdateEvents events = state.update(deltaMs, context);
-		auto reservation = std::lower_bound(
-			movementObstacles.begin(), movementObstacles.end(), id,
-			[](const CharacterMovementObstacle& obstacle,
-			   const std::string& value) { return obstacle.id < value; });
-		if (reservation != movementObstacles.end() && reservation->id == id) {
-			reservation->position = state.position;
-			reservation->moving = state.movedLastTick;
-			Eigen::Vector3f direction =
-				state.getCurrentNavigationTarget() - state.position;
-			direction.y() = 0.f;
-			const float length = direction.norm();
-			if (length > CharacterState::kWalkThreshold)
-				reservation->movementDirection = direction / length;
-			else
-				reservation->movementDirection = Eigen::Vector3f::Zero();
-		}
+
+		CharacterUpdateEvents events = entry.state->update(deltaMs, context);
+
 		if (!events.arrivedCallbackName.empty() || events.attackImpact ||
 			events.deathAnimationComplete || events.navigationRequested) {
-			result.characters.push_back({id, std::move(events)});
+			result.characters.push_back({ entry.id, std::move(events) });
 		}
-	};
+	}
 
-	for (const std::string& id : playerIds)
-		if (players.at(id)->enabled)
-			advance(id, *players.at(id));
-	for (const std::string& id : npcIds)
-		if (npcs.at(id)->enabled)
-			advance(id, *npcs.at(id));
+	std::vector<OrcaAgent> orcaAgents;
+	orcaAgents.reserve(allChars.size());
+
+	for (auto& entry : allChars) {
+		CharacterState* st = entry.state;
+		if (st->hp <= 0.f) continue; // Мертвые не участвуют в коллизиях
+
+		const bool wantsToMove = st->preferredVelocity.lengthSq() > fp(0.001f);
+		const bool inCombat = (st->battle_state == 1);
+
+		OrcaAgent agent;
+		agent.id = entry.id;
+		agent.state = st;
+		agent.pos = Vec2fp(st->position.x, st->position.z);
+		agent.vel = st->velocity;
+		agent.prefVel = st->preferredVelocity;
+		agent.radius = st->collisionRadius;
+		agent.maxSpeed = st->walkSpeed;
+		agent.isStationary = (!wantsToMove || inCombat);
+		agent.isGhost = (st->canAttack && !st->isPlayer);
+		agent.constantSpeed = !agent.isGhost;
+
+		orcaAgents.push_back(agent);
+	}
+
+	const PathFinder* activeNavMesh = nullptr;
+	if (location && location->activeNavigationIndex >= 0 &&
+		location->activeNavigationIndex < static_cast<int>(location->navigationMaps.size())) {
+		activeNavMesh = &location->navigationMaps[location->activeNavigationIndex];
+	}
+
+	OrcaSolver::step(orcaAgents, dtSec, activeNavMesh);
+
+	// 4. ФАЗА 3: Записываем новые позиции, скорости и обновляем анимацию/поворот
+	for (const auto& agent : orcaAgents) {
+		CharacterState* st = agent.state;
+		const Vec2fp oldPos(st->position.x, st->position.z);
+		const Vec2fp displacement = agent.pos - oldPos;
+		const fp movedDistSq = displacement.lengthSq();
+
+		st->position.x = agent.pos.x;
+		st->position.z = agent.pos.y;
+		st->velocity = agent.newVel;
+
+		st->movedLastTick = (movedDistSq > fp(0.0005f));
+
+		// Если персонаж хотел идти, проверяем — продвинулся ли он или уперся в глухую пробку
+		const bool wantedToMove = st->preferredVelocity.lengthSq() > fp(0.01f);
+		if (wantedToMove) {
+			if (st->movedLastTick) {
+				st->movementBlockedTicks = 0;
+				if (st->currentState == AnimationState::STAND) {
+					st->currentState = AnimationState::WALK;
+					st->resetAnim = true;
+				}
+
+				if (agent.newVel.lengthSq() > fp(0.05f)) {
+					st->targetFacingAngle = fpm::atan2(agent.newVel.x, -agent.newVel.y);
+				}
+			}
+			else {
+				st->movementBlockedTicks++;
+				if (st->currentState == AnimationState::WALK) {
+					st->currentState = AnimationState::STAND;
+					st->resetAnim = true;
+				}
+			}
+		}
+	}
 
 	for (const CharacterSimulationEvent& source : result.characters) {
 		if (!source.events.attackImpact) continue;
@@ -515,41 +493,7 @@ LocationSimulationEvents LocationGameState::update(
 			damage,
 			target->hp,
 			target->initialHp,
-			source.events.attackDirection});
-	}
-
-	auto player = players.find("player1");
-	if (!interactiveObjectsLocked &&
-		!location->targetInteractiveObjectId.empty() &&
-		player != players.end() && player->second && player->second->enabled) {
-		auto target = interactiveObjects.find(location->targetInteractiveObjectId);
-		const auto object =
-			target == interactiveObjects.end() ? nullptr : target->second;
-		if (object && !object->isAnimating) {
-			const Eigen::Vector3f& approachTarget = object->hasInteractionPosition
-				? object->interactionPosition : object->position;
-			if ((player->second->position - approachTarget).norm() <= object->approachRadius) {
-				result.interactiveObjects.push_back(
-					{location->targetInteractiveObjectId, {}, true,
-					 object->activateFunctionName});
-				location->targetInteractiveObjectId.clear();
-			}
-		}
-	}
-
-	if (!location->targetInteractNpcId.empty() &&
-		player != players.end() && player->second && player->second->enabled &&
-		npcs.count(location->targetInteractNpcId) != 0 &&
-		npcs.at(location->targetInteractNpcId)) {
-		const auto& npc = npcs.at(location->targetInteractNpcId);
-		const float distance =
-			(player->second->position - npc->position).norm();
-		if (distance <= NPC_TALK_DISTANCE) {
-			player->second->stopInPlace();
-			npc->faceTargetId = "player1";
-			result.npcInteractionId = location->targetInteractNpcId;
-			location->targetInteractNpcId.clear();
-		}
+			source.events.attackDirection });
 	}
 
 	return result;

src/LocationGameState.h

@@ -27,7 +27,7 @@ struct CharacterDamageEvent {
 	float amount = 0.f;
 	float hp = 0.f;
 	float maxHp = 0.f;
-	Eigen::Vector3f direction = Eigen::Vector3f::Zero();
+	Vec3fp direction;
 };
 
 struct InteractiveObjectSimulationEvent {
@@ -64,20 +64,15 @@ struct LocationGameState {
 	CharacterState* findCharacter(const std::string& id, PlayerStateMap& players);
 	const CharacterState* findCharacter(
 		const std::string& id, const PlayerStateMap& players) const;
-	std::vector<PathFinder::DynamicObstacle> collectPathObstacles(
-		const std::string& requesterId,
-		const PlayerStateMap& players,
-		const std::string& forcedObstacleId = {}) const;
 	bool setCharacterDestination(
 		const std::string& id,
-		const Eigen::Vector3f& target,
+		const Vec3fp& target,
 		std::string callbackName,
 		PlayerStateMap& players,
 		const std::string& forcedObstacleId = {});
 	bool replanCharacter(
 		const std::string& id,
-		PlayerStateMap& players,
-		const std::string& forcedObstacleId = {});
+		PlayerStateMap& players);
 	void startTaxi();
 	void resetTaxi();
 	LocationSimulationEvents update(

src/LocationState.cpp

@@ -123,7 +123,7 @@ void loadSinglePlayerPersistence(
 
 
 	// Entity ownership stays above this navigation-only layer.
-	std::vector<Eigen::Vector3f> LocationNetworkState::planPathExceptMyself(
+	/**td::vector<Eigen::Vector3f> LocationNetworkState::planPathExceptMyself(
 		const Eigen::Vector3f& start,
 		const Eigen::Vector3f& end,
 		const std::string& entityId,
@@ -135,7 +135,7 @@ void loadSinglePlayerPersistence(
 			return {};
 		return navigationMaps[activeNavigationIndex].findPathToNearest(
 			start, end, dynamicObstacles);
-	}
+	}*/
 
 	void LocationNetworkState::initNavigation(
 		const std::vector<std::string>& paths, const std::string& zipFile)

src/LocationState.h

@@ -41,11 +41,11 @@ struct LocationNetworkState : public ISaveable {
     //This value is populated from the JSON configs and should not be changed during the regular gameplay.
     //It might be changed only in the editor mode during development.
     std::vector<PathFinder> navigationMaps;
-    std::vector<Eigen::Vector3f> planPathExceptMyself(
+    /*std::vector<Eigen::Vector3f> planPathExceptMyself(
         const Eigen::Vector3f& start,
         const Eigen::Vector3f& end,
         const std::string& entityId,
-        const std::vector<PathFinder::DynamicObstacle>& dynamicObstacles = {}) const;
+        const std::vector<PathFinder::DynamicObstacle>& dynamicObstacles = {}) const;*/
     void initNavigation(
         const std::vector<std::string>& paths,
         const std::string& zipFile = std::string());

src/MenuManager.cpp

@@ -17,10 +17,6 @@
 
 namespace FRG {
 
-#ifdef __EMSCRIPTEN__
-	//extern Game* Game::s_instance;
-#endif
-
 	// Localization
 	static const std::string EMPTY_LANGUAGE_RU = u8"(пусто)";
 	static const std::string EMPTY_LANGUAGE_EN = "(empty)";
@@ -81,7 +77,7 @@ namespace FRG {
 		pushWord(currentWord);
 		if (!currentLine.empty()) flushLine();
 
-		return max(1, lines);
+		return std::max(1, lines);
 	}
 
 	static std::string trimChatPreview(const std::string& msg, int maxChars = 22) {
@@ -408,6 +404,9 @@ namespace FRG {
 		const std::string& loc = snapshot->currentLocationId;
 		if (loc == "uni_exterior") return snapshot->isDarklands ? hudUniExtDarkRoot : hudUniExtRoot;
 		if (loc == "uni_interior") return snapshot->isDarklands ? hudUniIntDarkRoot : hudUniIntRoot;
+		// Other locations (e.g. campaigns that start directly in Darklands) have no
+		// dedicated HUD; reuse the Darklands one so the health bar is shown.
+		if (snapshot->isDarklands && !loc.empty()) return hudUniExtDarkRoot;
 		return hudDormRoot; // dorm, or a new game before the location is set
 	}
 
@@ -2254,9 +2253,9 @@ namespace FRG {
 
 	float MenuManager::ToastEntry::currentAlpha() const {
 		switch (state) {
-		case State::FadeIn:  return min(timer / TOAST_FADE_MS,  1.0f);
+		case State::FadeIn:  return std::min(timer / TOAST_FADE_MS,  1.0f);
 		case State::Visible: return 1.0f;
-		case State::FadeOut: return max(1.0f - timer / TOAST_FADE_MS, 0.0f);
+		case State::FadeOut: return std::max(1.0f - timer / TOAST_FADE_MS, 0.0f);
 		}
 		return 0.0f;
 	}

src/OrcaSolver.h

@@ -0,0 +1,419 @@
+#pragma once
+
+#include "navigation/PathFinder.h"
+#include <algorithm>
+#include <string>
+#include <vector>
+
+namespace FRG {
+
+    // Линейное ограничение (полуплоскость допустимых скоростей ORCA)
+    struct OrcaLine {
+        Vec2fp point;     // Точка на граничной прямой
+        Vec2fp direction; // Единичный вектор направления прямой (допустимая полуплоскость СЛЕВА)
+    };
+
+    struct OrcaAgent {
+        std::string id;
+        CharacterState* state = nullptr;
+        Vec2fp pos;
+        Vec2fp vel;
+        Vec2fp prefVel;
+        fp radius;
+        fp maxSpeed;
+        bool isStationary = false;
+        bool isGhost = false;       // Враги-духи (парят в воздухе, легко расталкиваются)
+        bool constantSpeed = true;  // Люди (ходят только с полной скоростью либо стоят)
+        Vec2fp newVel;
+    };
+
+    class OrcaSolver {
+    public:
+        // Горизонт упреждения 0.6 сек (~1.8 метра при скорости 3 м/с)
+        static fp timeHorizon() { return fp(0.6f); }
+
+        static void step(
+            std::vector<OrcaAgent>& agents,
+            fp dtSec,
+            const PathFinder* navMesh)
+        {
+            if (dtSec <= fp(0) || agents.empty()) return;
+
+            // 1. Обязательная сортировка по ID для 100% детерминизма Lockstep
+            std::sort(agents.begin(), agents.end(), [](const OrcaAgent& a, const OrcaAgent& b) {
+                return a.id < b.id;
+                });
+
+            const fp invTimeHorizon = fp(1) / timeHorizon();
+            const fp invDt = fp(1) / dtSec;
+            const fp neighborDist = fp(4.0f);
+            const fp neighborDistSq = neighborDist * neighborDist;
+
+            std::vector<OrcaLine> orcaLines;
+            orcaLines.reserve(16);
+
+            // 2. Для каждого агента строим линии ORCA относительно соседей
+            for (std::size_t i = 0; i < agents.size(); ++i) {
+                OrcaAgent& agent = agents[i];
+                if (agent.maxSpeed <= fp(0) || agent.prefVel.lengthSq() <= fp(0.001f)) {
+                    agent.newVel = Vec2fp(fp(0), fp(0));
+                    continue;
+                }
+
+                orcaLines.clear();
+
+                // ВАЖНО: Если человек стартует с места, используем prefVel как базу для построения VO,
+                // чтобы стоящие рядом NPC не запирали его в нулевой скорости!
+                const Vec2fp effectiveAgentVel = (agent.constantSpeed && agent.vel.lengthSq() < fp(0.1f))
+                    ? agent.prefVel
+                    : agent.vel;
+
+                for (std::size_t j = 0; j < agents.size(); ++j) {
+                    if (i == j) continue;
+                    const OrcaAgent& other = agents[j];
+
+                    // Человек НЕ строит тормозящих линий ORCA об духов —
+                    // духи сами расступаются перед человеком и расталкиваются в resolveHardCollisions!
+                    if (!agent.isGhost && other.isGhost) {
+                        continue;
+                    }
+
+                    const Vec2fp relativePos = other.pos - agent.pos;
+                    const fp distSq = relativePos.lengthSq();
+                    if (distSq > neighborDistSq) continue;
+
+                    const Vec2fp relativeVel = effectiveAgentVel - other.vel;
+                    // Для проверки конуса обхода используем чуть меньший радиус (85%), 
+                    // чтобы персонажи легче протискивались мимо друг друга
+                    const fp combinedRadius = (agent.radius + other.radius) * fp(0.85f);
+                    const fp combinedRadiusSq = combinedRadius * combinedRadius;
+
+                    OrcaLine line;
+                    Vec2fp u;
+
+                    if (distSq > combinedRadiusSq) {
+                        const Vec2fp w = relativeVel - relativePos * invTimeHorizon;
+                        const fp wLengthSq = w.lengthSq();
+                        const fp dotProduct1 = w.dot(relativePos);
+
+                        if (dotProduct1 < fp(0) && dotProduct1 * dotProduct1 > combinedRadiusSq * wLengthSq) {
+                            const fp wLength = fpm::sqrt(wLengthSq);
+                            const Vec2fp unitW = wLength > fp(0.001f) ? (w / wLength) : Vec2fp(fp(1), fp(0));
+                            line.direction = Vec2fp(unitW.y, -unitW.x);
+                            u = unitW * (combinedRadius * invTimeHorizon - wLength);
+                        }
+                        else {
+                            const fp leg = fpm::sqrt(std::max(fp(0), distSq - combinedRadiusSq));
+                            if (relativePos.cross(w) > fp(0)) {
+                                line.direction = Vec2fp(
+                                    relativePos.x * leg - relativePos.y * combinedRadius,
+                                    relativePos.x * combinedRadius + relativePos.y * leg
+                                ) / distSq;
+                            }
+                            else {
+                                line.direction = Vec2fp(
+                                    -(relativePos.x * leg + relativePos.y * combinedRadius),
+                                    -(-relativePos.x * combinedRadius + relativePos.y * leg)
+                                ) / distSq;
+                            }
+                            const fp dotProduct2 = relativeVel.dot(line.direction);
+                            u = line.direction * dotProduct2 - relativeVel;
+                        }
+                    }
+                    else {
+                        const Vec2fp w = relativeVel - relativePos * invDt;
+                        const fp wLength = w.length();
+                        const Vec2fp unitW = wLength > fp(0.001f)
+                            ? (w / wLength)
+                            : ((i < j) ? Vec2fp(fp(1), fp(0)) : Vec2fp(fp(-1), fp(0)));
+
+                        line.direction = Vec2fp(unitW.y, -unitW.x);
+                        u = unitW * (combinedRadius * invDt - wLength);
+                    }
+
+                    fp responsibility = fp(0.5f);
+                    if (agent.isGhost && !other.isGhost) {
+                        responsibility = fp(0.95f); // Дух берет 95% уклонения от человека
+                    }
+                    else if (other.isStationary && !agent.isStationary) {
+                        responsibility = fp(1.0f);  // Обходящий берет 100% маневра мимо стоящего
+                    }
+                    else if (!other.isStationary && agent.isStationary) {
+                        responsibility = fp(0.0f);
+                    }
+
+                    line.point = effectiveAgentVel + u * responsibility;
+                    orcaLines.push_back(line);
+                }
+
+                // Решаем стандартную задачу ORCA
+                Vec2fp resultVel = agent.prefVel;
+                int lineFail = linearProgram2(orcaLines, agent.maxSpeed, agent.prefVel, false, resultVel);
+                if (lineFail < static_cast<int>(orcaLines.size())) {
+                    linearProgram3(orcaLines, lineFail, agent.maxSpeed, resultVel);
+                }
+
+                // Если это человек (constantSpeed == true), ищем угол обхода с сохранением полной скорости:
+                const fp prefSpeedSq = agent.prefVel.lengthSq();
+                if (agent.constantSpeed && prefSpeedSq > fp(0.01f)) {
+                    const fp prefSpeed = fpm::sqrt(prefSpeedSq);
+                    resultVel = findConstantSpeedVelocity(orcaLines, agent.prefVel, prefSpeed, resultVel);
+                }
+
+                agent.newVel = resultVel;
+            }
+
+            // 3. Применяем скорости и корректируем жесткие наложения
+            for (auto& agent : agents) {
+                agent.pos = agent.pos + agent.newVel * dtSec;
+            }
+
+            resolveHardCollisions(agents);
+
+            // 4. Удерживаем всех внутри NavMesh
+            if (navMesh && navMesh->isReady()) {
+                for (auto& agent : agents) {
+                    Vec3fp pt3D(agent.pos.x, navMesh->getFloorY(), agent.pos.y);
+                    if (!navMesh->isWalkable(pt3D)) {
+                        int dummyTri = -1;
+                        agent.pos = navMesh->clampToNavMesh(agent.pos, dummyTri);
+                    }
+                }
+            }
+        }
+
+    private:
+        // Подбирает вектор скорости строго длины prefSpeed, который огибает препятствие без замедления
+        static Vec2fp findConstantSpeedVelocity(
+            const std::vector<OrcaLine>& orcaLines,
+            const Vec2fp& prefVel,
+            fp prefSpeed,
+            const Vec2fp& orcaVel)
+        {
+            if (orcaLines.empty()) return prefVel;
+
+            const Vec2fp forwardDir = prefVel / prefSpeed;
+            // Перпендикуляр для отступа влево/вправо при лобовом столкновении
+            const Vec2fp rightDir(forwardDir.y, -forwardDir.x);
+
+            // Перебираем веер углов отклонения от прямого курса (0°, ±15°, ±30°, ±45°, ±60°, ±75°, ±90°)
+            // Синусы и косинусы заданы константами для скорости и детерминизма
+            struct AngleOffset { fp cosA; fp sinA; };
+            static const AngleOffset offsets[] = {
+                { fp(1.000f), fp(0.000f) },
+                { fp(0.966f), fp(0.259f) }, { fp(0.966f), fp(-0.259f) }, // ±15°
+                { fp(0.866f), fp(0.500f) }, { fp(0.866f), fp(-0.500f) }, // ±30°
+                { fp(0.707f), fp(0.707f) }, { fp(0.707f), fp(-0.707f) }, // ±45°
+                { fp(0.500f), fp(0.866f) }, { fp(0.500f), fp(-0.866f) }, // ±60°
+                { fp(0.259f), fp(0.966f) }, { fp(0.259f), fp(-0.966f) }, // ±75°
+                { fp(0.000f), fp(1.000f) }, { fp(0.000f), fp(-1.000f) }  // ±90°
+            };
+
+            // Определяем, в какую сторону (влево или вправо) нам выгоднее обходить по подсказке от ORCA
+            const fp sideHint = rightDir.dot(orcaVel);
+
+            for (std::size_t k = 0; k < sizeof(offsets) / sizeof(offsets[0]); ++k) {
+                // Если k нечетный (пара ±угол), проверяем сначала ту сторону, куда склоняется ORCA
+                std::size_t idx = k;
+                if (k >= 1 && (k % 2 == 1) && sideHint < fp(0)) {
+                    idx = k + 1;
+                }
+                else if (k >= 1 && (k % 2 == 0) && sideHint < fp(0)) {
+                    idx = k - 1;
+                }
+
+                const Vec2fp candidateDir = forwardDir * offsets[idx].cosA + rightDir * offsets[idx].sinA;
+                const Vec2fp candidateVel = candidateDir * prefSpeed;
+
+                bool valid = true;
+                for (const auto& line : orcaLines) {
+                    // Допускаем погрешность 0.1f м/с
+                    if (line.direction.cross(line.point - candidateVel) > fp(0.1f)) {
+                        valid = false;
+                        break;
+                    }
+                }
+
+                if (valid) {
+                    return candidateVel;
+                }
+            }
+
+            // Если ни один угол до ±90° не свободен (проход полностью заблокирован вплотную) — стоим
+            return Vec2fp(fp(0), fp(0));
+        }
+
+        static void resolveHardCollisions(std::vector<OrcaAgent>& agents) {
+            const std::size_t n = agents.size();
+            for (int iter = 0; iter < 2; ++iter) {
+                for (std::size_t i = 0; i < n; ++i) {
+                    for (std::size_t j = i + 1; j < n; ++j) {
+                        Vec2fp delta = agents[j].pos - agents[i].pos;
+                        fp distSq = delta.lengthSq();
+                        fp minDist = agents[i].radius + agents[j].radius;
+
+                        if (distSq < minDist * minDist) {
+                            fp dist = fpm::sqrt(distSq);
+                            Vec2fp normal = (dist > fp(0.001f))
+                                ? (delta / dist)
+                                : Vec2fp(fp(1), fp(0));
+
+                            fp penetration = (minDist - dist) * fp(0.5f);
+
+                            fp weightI = fp(0.5f);
+                            fp weightJ = fp(0.5f);
+
+                            if (!agents[i].isGhost && agents[j].isGhost) {
+                                weightI = fp(0.0f); weightJ = fp(1.0f); // Человек на 100% выталкивает духа
+                            }
+                            else if (agents[i].isGhost && !agents[j].isGhost) {
+                                weightI = fp(1.0f); weightJ = fp(0.0f);
+                            }
+                            else {
+                                weightI = agents[i].isStationary ? fp(0.1f) : fp(0.5f);
+                                weightJ = agents[j].isStationary ? fp(0.1f) : fp(0.5f);
+                                fp sumW = weightI + weightJ;
+                                weightI /= sumW;
+                                weightJ /= sumW;
+                            }
+
+                            agents[i].pos = agents[i].pos - normal * (penetration * weightI);
+                            agents[j].pos = agents[j].pos + normal * (penetration * weightJ);
+                        }
+                    }
+                }
+            }
+        }
+
+        static bool linearProgram1(
+            const std::vector<OrcaLine>& lines,
+            int lineNo,
+            fp radius,
+            const Vec2fp& optVelocity,
+            bool directionOpt,
+            Vec2fp& result)
+        {
+            const fp dotProduct = lines[lineNo].point.dot(lines[lineNo].direction);
+            const fp discriminant = dotProduct * dotProduct + radius * radius - lines[lineNo].point.lengthSq();
+
+            if (discriminant < fp(0)) {
+                return false;
+            }
+
+            const fp sqrtDiscriminant = fpm::sqrt(discriminant);
+            fp tLeft = -dotProduct - sqrtDiscriminant;
+            fp tRight = -dotProduct + sqrtDiscriminant;
+
+            for (int i = 0; i < lineNo; ++i) {
+                const fp denominator = lines[lineNo].direction.cross(lines[i].direction);
+                const fp numerator = lines[i].direction.cross(lines[lineNo].point - lines[i].point);
+
+                if (fpm::abs(denominator) <= fp(0.001f)) {
+                    if (numerator < fp(0)) return false;
+                    continue;
+                }
+
+                const fp t = numerator / denominator;
+                if (denominator >= fp(0)) {
+                    tRight = std::min(tRight, t);
+                }
+                else {
+                    tLeft = std::max(tLeft, t);
+                }
+
+                if (tLeft > tRight) return false;
+            }
+
+            if (directionOpt) {
+                if (optVelocity.dot(lines[lineNo].direction) > fp(0)) {
+                    result = lines[lineNo].point + lines[lineNo].direction * tRight;
+                }
+                else {
+                    result = lines[lineNo].point + lines[lineNo].direction * tLeft;
+                }
+            }
+            else {
+                const fp t = lines[lineNo].direction.dot(optVelocity - lines[lineNo].point);
+                const fp tClamped = std::max(tLeft, std::min(tRight, t));
+                result = lines[lineNo].point + lines[lineNo].direction * tClamped;
+            }
+
+            return true;
+        }
+
+        static int linearProgram2(
+            const std::vector<OrcaLine>& lines,
+            fp radius,
+            const Vec2fp& optVelocity,
+            bool directionOpt,
+            Vec2fp& result)
+        {
+            if (directionOpt) {
+                result = optVelocity * radius;
+            }
+            else if (optVelocity.lengthSq() > radius * radius) {
+                result = (optVelocity / optVelocity.length()) * radius;
+            }
+            else {
+                result = optVelocity;
+            }
+
+            for (int i = 0; i < static_cast<int>(lines.size()); ++i) {
+                if (lines[i].direction.cross(lines[i].point - result) > fp(0)) {
+                    const Vec2fp tempResult = result;
+                    if (!linearProgram1(lines, i, radius, optVelocity, directionOpt, result)) {
+                        result = tempResult;
+                        return i;
+                    }
+                }
+            }
+            return static_cast<int>(lines.size());
+        }
+
+        static void linearProgram3(
+            const std::vector<OrcaLine>& lines,
+            int beginLine,
+            fp radius,
+            Vec2fp& result)
+        {
+            fp distance = fp(0);
+
+            for (int i = beginLine; i < static_cast<int>(lines.size()); ++i) {
+                if (lines[i].direction.cross(lines[i].point - result) > distance) {
+                    std::vector<OrcaLine> projLines;
+                    projLines.reserve(i);
+
+                    for (int j = 0; j < i; ++j) {
+                        OrcaLine line;
+                        fp determinant = lines[i].direction.cross(lines[j].direction);
+
+                        if (fpm::abs(determinant) <= fp(0.001f)) {
+                            if (lines[i].direction.dot(lines[j].direction) > fp(0)) continue;
+                            line.point = (lines[i].point + lines[j].point) * fp(0.5f);
+                        }
+                        else {
+                            line.point = lines[i].point + lines[i].direction *
+                                (lines[j].direction.cross(lines[i].point - lines[j].point) / determinant);
+                        }
+
+                        Vec2fp dirDiff = lines[j].direction - lines[i].direction;
+                        fp dirLen = dirDiff.length();
+                        if (dirLen <= fp(0.001f)) continue;
+
+                        line.direction = dirDiff / dirLen;
+                        projLines.push_back(line);
+                    }
+
+                    const Vec2fp tempResult = result;
+                    const Vec2fp optDir(-lines[i].direction.y, lines[i].direction.x);
+                    if (linearProgram2(projLines, radius, optDir, true, result) < static_cast<int>(projLines.size())) {
+                        result = tempResult;
+                    }
+
+                    distance = lines[i].direction.cross(lines[i].point - result);
+                }
+            }
+        }
+    };
+
+} // namespace FRG

src/ScriptEngine.cpp

@@ -13,6 +13,9 @@
 
 namespace FRG {
 
+    constexpr float kPi = 3.14159265358979323846f;
+
+
     namespace {
 
     // Reverse-looks-up the global name a Lua function is registered under, by
@@ -80,6 +83,7 @@ namespace FRG {
     ScriptEngine::~ScriptEngine() = default;
 
     void ScriptEngine::init(Location* loc, AudioPlayerAsync* audioPlayer, const std::string& scriptPath) {
+        logger() << "ScriptEngine::init with script path: " << scriptPath << std::endl;
         impl = std::make_unique<Impl>();
         sol::state& lua = impl->lua;
 
@@ -125,9 +129,9 @@ namespace FRG {
                         std::cerr << "[script] npc_walk_to: on_arrived must be a global Lua function\n";
                 }
                 loc->gameServer().submit(SetCharacterHomePositionCommand{
-                    loc->locationId(), npc->entityId(), Eigen::Vector3f(x, 0.f, z)});
+                    loc->locationId(), npc->entityId(), Vec3fp(static_cast<fp>(x), static_cast<fp>(0.f), static_cast<fp>(z))});
                 loc->setCharacterTarget(
-                    *npc, Eigen::Vector3f(x, y, z), std::move(cbName));
+                    *npc, Vec3fp(static_cast<fp>(x), static_cast<fp>(y), static_cast<fp>(z)), std::move(cbName));
             });
 
 
@@ -139,16 +143,16 @@ namespace FRG {
                     return;
                 }
                 
-                const float rad = angle * static_cast<float>(M_PI) / 180.f;
-				logger() << "[script] npc_rotate_to: " << npcId << " angle " << angle << " degrees (" << rad << " radians)" << std::endl;
+                const fp rad = static_cast<fp>(angle) * static_cast<fp>(kPi) / static_cast < fp>(180.f);
+				logger() << "[script] npc_rotate_to: " << npcId << " angle " << angle << " degrees (" << static_cast<float>(rad) << " radians)" << std::endl;
                 loc->gameServer().submit(SetCharacterFacingAngleCommand{
                     loc->locationId(), npc->entityId(), rad, false});
             });
 
         api.set_function("player_rotate_to",
             [loc](float angle) {
-                const float rad = angle * static_cast<float>(M_PI) / 180.f;
-                logger() << "[script] player_rotate_to: angle " << angle << " degrees (" << rad << " radians)" << std::endl;
+                const fp rad = static_cast<fp>(angle) * static_cast<fp>(kPi) / static_cast <fp>(180.f);
+                logger() << "[script] player_rotate_to: angle " << angle << " degrees (" << static_cast<float>(rad) << " radians)" << std::endl;
                 loc->gameServer().submit(SetCharacterFacingAngleCommand{
                     loc->locationId(), loc->player->entityId(), rad, false});
             });
@@ -187,9 +191,9 @@ namespace FRG {
                 }
                 loc->gameServer().submit(SetCharacterHomePositionCommand{
                     loc->locationId(), loc->player->entityId(),
-                    Eigen::Vector3f(x, 0.f, z)});
+                    Vec3fp(static_cast<fp>(x), static_cast<fp>(0.f), static_cast<fp>(z))});
                 loc->setCharacterTarget(
-                    *loc->player, Eigen::Vector3f(x, y, z), std::move(cbName));
+                    *loc->player, Vec3fp(static_cast<fp>(x), static_cast<fp>(y), static_cast<fp>(z)), std::move(cbName));
             });
 
 
@@ -423,12 +427,12 @@ namespace FRG {
         api.set_function("get_player_x",
             [loc]() -> float {
                 auto state = loc->player ? loc->player->stateSnapshot() : nullptr;
-                return state ? state->position.x() : 0.0f;
+                return state ? static_cast<float>(state->position.x) : 0.0f;
             });
         api.set_function("get_player_z",
             [loc]() -> float {
                 auto state = loc->player ? loc->player->stateSnapshot() : nullptr;
-                return state ? state->position.z() : 0.0f;
+                return state ? static_cast<float>(state->position.z) : 0.0f;
             });
 
         api.set_function("refill_current_player_hp",
@@ -592,7 +596,7 @@ namespace FRG {
                     std::cerr << "[script] npc_set_position: unknown NPC id '" << npcId << "'\n";
                     return;
                 }
-                Eigen::Vector3f pos(x, y, z);
+                Vec3fp pos(static_cast<fp>(x), static_cast<fp>(y), static_cast<fp>(z));
                 loc->gameServer().submit(SetCharacterPositionCommand{
                     loc->locationId(), npc->entityId(), pos, true});
                 loc->setCharacterTarget(*npc, pos);
@@ -606,7 +610,8 @@ namespace FRG {
                     std::cerr << "[script] npc_set_rotation: unknown NPC id '" << npcId << "'\n";
                     return;
                 }
-                const float rad = angle * static_cast<float>(M_PI) / 180.f;
+                const fp rad = static_cast<fp>(angle) * static_cast<fp>(kPi) / static_cast <fp>(180.f);
+
                 loc->gameServer().submit(SetCharacterFacingAngleCommand{
                     loc->locationId(), npc->entityId(), rad, true});
             });
@@ -625,7 +630,7 @@ namespace FRG {
 
         api.set_function("player_set_position",
             [loc](float x, float y, float z) {
-                Eigen::Vector3f pos(x, y, z);
+                Vec3fp pos(static_cast<fp>(x), static_cast<fp>(y), static_cast<fp>(z));
                 loc->gameServer().submit(SetCharacterPositionCommand{
                     loc->locationId(), loc->player->entityId(), pos, true});
                 loc->setCharacterTarget(*loc->player, pos);
@@ -633,7 +638,8 @@ namespace FRG {
 
         api.set_function("player_set_rotation",
             [loc](float angle) {
-                const float rad = angle * static_cast<float>(M_PI) / 180.f;
+                const fp rad = static_cast<fp>(angle) * static_cast<fp>(kPi) / static_cast <fp>(180.f);
+
                 loc->gameServer().submit(SetCharacterFacingAngleCommand{
                     loc->locationId(), loc->player->entityId(), rad, true});
             });

src/content/LocationDefinition.cpp

@@ -6,6 +6,7 @@
 #include <cstring>
 #include <stdexcept>
 #include <unordered_set>
+#include <math.h>
 
 namespace FRG {
 namespace {
@@ -172,7 +173,7 @@ CharacterState NpcData::toCharacterState() const
 	CharacterState state;
 	state.npcName = name;
 	state.position = {positionX, positionY, positionZ};
-	state.homePosition = {positionX, 0.f, positionZ};
+	state.homePosition = {positionX, static_cast<fp>(0.f), positionZ};
 	state.stopInPlace();
 	state.facingAngle = facingAngle;
 	state.walkSpeed = walkSpeed;
@@ -183,9 +184,9 @@ CharacterState NpcData::toCharacterState() const
 	state.visibleRange = visibleRange;
 	state.canAttack = canAttack;
 	state.enabled = enabled;
-	state.collisionRadius = navigationAvoidanceRadius;
-	state.movementContactRadius =
-		(std::min)(movementContactRadius, navigationAvoidanceRadius);
+	//state.collisionRadius = navigationAvoidanceRadius;
+	//state.movementContactRadius =
+	//	(std::min)(movementContactRadius, navigationAvoidanceRadius);
 	state.interactionRadius = interactionRadius;
 	state.configureNavigationRetryCooldowns(
 		id, navigationRetryCooldownTicks);
@@ -293,7 +294,7 @@ LocationDefinition LocationContentLoader::load(
 		for (const auto& item : root.value("npcs", json::array())) {
 			NpcData data;
 			data.id = item.at("id").get<std::string>();
-			if (data.id.empty() || data.id == "player" ||
+			if (data.id.empty() || data.id == "player1" ||
 				!ids.insert(data.id).second) {
 				throw std::runtime_error(
 					"Missing, duplicate, or reserved NPC id in " +
@@ -309,8 +310,8 @@ LocationDefinition LocationContentLoader::load(
 						data.meshTextures[name] = path.get<std::string>();
 				}
 			}
-			data.interactionRadius =
-				item.value("interactionRadius", 0.f);
+			data.interactionRadius = static_cast<fp>(
+				item.value<double>("interactionRadius", 0.0));
 			data.animationIdlePath =
 				item.value("animationIdlePath", "");
 			data.animationWalkPath =
@@ -327,11 +328,11 @@ LocationDefinition LocationContentLoader::load(
 				item.value("animationActionToDeathPath", "");
 			data.animationDeathIdlePath =
 				item.value("animationDeathIdlePath", "");
-			data.positionX = item.value("positionX", 0.f);
-			data.positionY = item.value("positionY", 0.f);
-			data.positionZ = item.value("positionZ", 0.f);
-			data.walkSpeed = item.value("walkSpeed", 1.5f);
-			data.rotationSpeed = item.value("rotationSpeed", 8.f);
+			data.positionX = static_cast<fp>(item.value<double>("positionX", 0.0));
+			data.positionY = static_cast<fp>(item.value<double>("positionY", 0.0));
+			data.positionZ = static_cast<fp>(item.value<double>("positionZ", 0.0));
+			data.walkSpeed = static_cast<fp>(item.value<double>("walkSpeed", 1.5));
+			data.rotationSpeed = static_cast<fp>(item.value<double>("rotationSpeed", 8.0));
 			data.modelScale = item.value("modelScale", 0.01f);
 			const float degrees = kPi / 180.f;
 			data.modelCorrectionRotX =
@@ -341,12 +342,13 @@ LocationDefinition LocationContentLoader::load(
 			data.modelCorrectionRotZ =
 				item.value("modelCorrectionRotZ", 0.f) * degrees;
 			data.facingAngle =
-				item.value("facingAngle", 0.f) * degrees;
+				static_cast<fp>(item.value<double>("facingAngle", 0.0)) * static_cast<fp>(kPi) / static_cast<fp>(180.0);
 			data.hp = item.value("hp", 100.f);
 			data.visibleRange =
-				item.value("visibleRange", VISIBLE_RANGE);
+				static_cast<fp>(item.value<double>("visibleRange", static_cast<double>(VISIBLE_RANGE)));
 			data.canAttack = item.value("canAttack", false);
 			data.enabled = item.value("enabled", true);
+			/*
 			data.navigationAvoidanceRadius = item.value(
 				"navigationAvoidanceRadius",
 				item.value("collisionRadius", 0.45f));
@@ -359,6 +361,7 @@ LocationDefinition LocationContentLoader::load(
 				0.05f, (std::min)(
 					data.movementContactRadius,
 					data.navigationAvoidanceRadius));
+					*/
 			const char* cooldownKey =
 				item.contains("navigationRetryCooldownTicks")
 					? "navigationRetryCooldownTicks"

src/content/LocationDefinition.h

@@ -58,23 +58,23 @@ struct NpcData {
 	std::string animationActionToStandPath;
 	std::string animationActionToDeathPath;
 	std::string animationDeathIdlePath;
-	float positionX = 0.f;
-	float positionY = 0.f;
-	float positionZ = 0.f;
-	float walkSpeed = 1.5f;
-	float rotationSpeed = 8.f;
+	fp positionX = static_cast<fp>(0.f);
+	fp positionY = static_cast<fp>(0.f);
+	fp positionZ = static_cast<fp>(0.f);
+	fp walkSpeed = static_cast<fp>(1.5f);
+	fp rotationSpeed = static_cast<fp>(8.f);
 	float modelScale = 0.01f;
 	float modelCorrectionRotX = 0.f;
 	float modelCorrectionRotY = 0.f;
 	float modelCorrectionRotZ = 0.f;
-	float facingAngle = 0.f;
+	fp facingAngle = static_cast<fp>(0.f);
 	float hp = 100.f;
-	float visibleRange = VISIBLE_RANGE;
+	fp visibleRange = static_cast<fp>(VISIBLE_RANGE);
 	bool canAttack = false;
 	bool enabled = true;
-	float navigationAvoidanceRadius = 0.45f;
-	float movementContactRadius = 0.32f;
-	float interactionRadius = 0.f;
+	//fp navigationAvoidanceRadius = static_cast<fp>(0.45f);
+	//fp movementContactRadius = static_cast<fp>(0.32f);
+	fp interactionRadius = static_cast<fp>(0.f);
 	std::vector<int> navigationRetryCooldownTicks;
 
 	CharacterState toCharacterState() const;

src/game_server/IGameServer.h

@@ -7,6 +7,7 @@
 #include <string>
 #include <variant>
 #include <vector>
+#include "../navigation/PathFinder.h"
 
 namespace FRG {
 
@@ -110,7 +111,7 @@ struct SetNavigationAreaAvailableCommand {
 struct AddNavigationObstacleCommand {
 	std::string locationId;
 	std::string name;
-	std::vector<Eigen::Vector2f> polygon;
+	std::vector<Vec2fp> polygon;
 };
 struct AddInventoryItemCommand { std::string itemId; };
 struct RemoveInventoryItemCommand { std::string itemId; };
@@ -136,19 +137,19 @@ struct SetGlobalFloatCommand { std::string key; float value; };
 struct SetCharacterPositionCommand {
 	std::string locationId;
 	std::string characterId;
-	Eigen::Vector3f position;
+	Vec3fp position;
 	bool updateHomePosition = false;
 };
 struct SetCharacterFacingAngleCommand {
 	std::string locationId;
 	std::string characterId;
-	float angle;
+	fp angle;
 	bool setCurrentAngle = false;
 };
 struct SetCharacterHomePositionCommand {
 	std::string locationId;
 	std::string characterId;
-	Eigen::Vector3f position;
+	Vec3fp position;
 };
 struct SetCharacterTargetCommand {
 	std::string locationId;
@@ -172,7 +173,7 @@ struct ClearCharacterAttackTargetCommand {
 struct SetCharacterDestinationCommand {
 	std::string locationId;
 	std::string characterId;
-	Eigen::Vector3f target;
+	Vec3fp target;
 	std::string callbackName;
 };
 struct StopCharacterCommand {

src/game_server/InternalGameServer.cpp

@@ -70,11 +70,11 @@ void InternalGameServer::updateBattleZoneTestBot(std::int64_t deltaMs)
 	battleZoneTestBotElapsedMs_ %= kBattleZoneTestBotIntervalMs;
 
 	static std::mt19937 randomEngine(std::random_device{}());
-	static std::uniform_real_distribution<float> coordinate(-10.0f, 10.0f);
+	static std::uniform_int_distribution<int> coordinate(-100, 100); //Divide by 10 then.
 	submit(SetCharacterDestinationCommand{
 		state_.currentLocationName,
 		kBattleZonePlayer2Id,
-		Eigen::Vector3f(coordinate(randomEngine), 0.f, coordinate(randomEngine)),
+		Vec3fp(static_cast<fp>(coordinate(randomEngine)) / static_cast<fp>(10), static_cast<fp>(0.f), coordinate(randomEngine) / static_cast<fp>(10)),
 		std::string()});
 }
 
@@ -520,8 +520,7 @@ void InternalGameServer::update(std::int64_t deltaMs)
 		if (!event.events.navigationRequested) continue;
 		if (event.events.forceNavigationReplan)
 			stored->second.replanCharacter(
-				event.characterId, state_.players,
-				event.events.blockingCharacterId);
+				event.characterId, state_.players);
 		else
 			stored->second.setCharacterDestination(
 				event.characterId, event.events.navigationTarget, {},

src/game_server/NetworkProtocol.cpp

@@ -91,6 +91,44 @@ bool readTarget(
 	return true;
 }
 
+bool readTargetFp(
+	const nlohmann::json& value, FRG::Vec3fp& target, std::string& error)
+{
+	if (!value.is_array() || value.size() != 3) {
+		error = "target must contain three coordinates";
+		return false;
+	}
+
+	FRG::fp coords[3];
+	for (std::size_t index = 0; index < 3; ++index) {
+		if (!value[index].is_number()) {
+			error = "target coordinates must be numbers";
+			return false;
+		}
+		const double coordinate = value[index].get<double>();
+		if (!std::isfinite(coordinate) || std::abs(coordinate) > 100000.0) {
+			error = "target coordinate is not finite or is out of range";
+			return false;
+		}
+		// Округляем до сотых в double и конвертируем в Q20.12 (fp)
+		coords[index] = FRG::fp(coordinate);
+	}
+
+	target.x = coords[0];
+	target.y = coords[1];
+	target.z = coords[2];
+	return true;
+}
+
+nlohmann::json targetJsonFp(const FRG::Vec3fp& target)
+{
+	return nlohmann::json::array({
+		static_cast<double>(target.x),
+		static_cast<double>(target.y),
+		static_cast<double>(target.z)
+		});
+}
+
 nlohmann::json targetJson(const Eigen::Vector3f& target)
 {
 	return nlohmann::json::array({target.x(), target.y(), target.z()});
@@ -161,7 +199,7 @@ bool parseInitialStateMessage(
 }
 
 std::uint64_t LockstepTimeline::schedule(
-	const std::string& playerId, const Eigen::Vector3f& target)
+	const std::string& playerId, const Vec3fp& target)
 {
 	const std::uint64_t sequence = nextCommandSequence_++;
 	pending_[currentTick_ + inputDelayTicks_].push_back(
@@ -206,7 +244,7 @@ std::string makeDestinationInputMessage(const DestinationInputMessage& message)
 {
 	return envelope("destination_input", {
 		{"clientSequence", message.clientSequence},
-		{"target", targetJson(message.target)}
+		{"target", targetJsonFp(message.target)}
 	});
 }
 
@@ -219,7 +257,7 @@ bool parseDestinationInputMessage(
 		return false;
 	if (!payload.contains("target"))
 		return error = "target is required", false;
-	return readTarget(payload["target"], message.target, error);
+	return readTargetFp(payload["target"], message.target, error);
 }
 
 std::string makeCharacterActionInputMessage(
@@ -265,7 +303,7 @@ std::string makeTickMessage(const TickMessage& message)
 					{"type", "destination"},
 					{"commandSequence", command.commandSequence},
 					{"playerId", command.playerId},
-					{"target", targetJson(command.target)}
+					{"target", targetJsonFp(command.target)}
 				});
 			} else {
 				if constexpr (std::is_same_v<T, ScheduledCharacterEnabledCommand>) {
@@ -320,7 +358,7 @@ bool parseTickMessage(
 			destination.commandSequence = previousSequence;
 			if (!value.contains("playerId") || !value["playerId"].is_string() ||
 				!value.contains("target") ||
-				!readTarget(value["target"], destination.target, error)) {
+				!readTargetFp(value["target"], destination.target, error)) {
 				if (error.empty()) error = "invalid destination command";
 				return false;
 			}

src/game_server/NetworkProtocol.h

@@ -7,6 +7,7 @@
 #include <string>
 #include <variant>
 #include <vector>
+#include "../navigation/PathFinder.h"
 
 namespace FRG {
 
@@ -25,7 +26,7 @@ struct InitialStateMessage {
 
 struct DestinationInputMessage {
 	std::uint64_t clientSequence = 0;
-	Eigen::Vector3f target = Eigen::Vector3f::Zero();
+	Vec3fp target;
 };
 
 struct CharacterActionInputMessage {
@@ -37,7 +38,7 @@ struct CharacterActionInputMessage {
 struct ScheduledDestinationCommand {
 	std::uint64_t commandSequence = 0;
 	std::string playerId;
-	Eigen::Vector3f target = Eigen::Vector3f::Zero();
+	Vec3fp target;
 };
 
 struct ScheduledCharacterEnabledCommand {
@@ -73,7 +74,7 @@ public:
 
 	std::uint64_t currentTick() const { return currentTick_; }
 	std::uint64_t schedule(
-		const std::string& playerId, const Eigen::Vector3f& target);
+		const std::string& playerId, const Vec3fp& target);
 	std::uint64_t scheduleCharacterEnabled(
 		const std::string& locationId, const std::string& characterId,
 		bool enabled);

src/items/GameObjectLoader.cpp

@@ -13,6 +13,9 @@
 
 namespace FRG {
 
+	constexpr float kPi = 3.14159265358979323846f;
+
+
 	using json = nlohmann::json;
 
 	// -----------------------------------------------------------------------
@@ -341,7 +344,7 @@ namespace FRG {
 							data.meshTextures[it.key()] = it.value().get<std::string>();
 					}
 				}
-				data.interactionRadius       = item.value("interactionRadius", 0.0f);
+				data.interactionRadius       = static_cast<fp>(item.value<double>("interactionRadius", 0.0));
 				data.animationIdlePath       = item.value("animationIdlePath", "");
 				data.animationWalkPath       = item.value("animationWalkPath", "");
 				data.animationActionIdlePath = item.value("animationActionIdlePath", "");
@@ -350,18 +353,18 @@ namespace FRG {
 				data.animationActionToStandPath = item.value("animationActionToStandPath", "");
 				data.animationActionToDeathPath = item.value("animationActionToDeathPath", "");
 				data.animationDeathIdlePath     = item.value("animationDeathIdlePath", "");
-				data.positionX      = item.value("positionX", 0.0f);
-				data.positionY      = item.value("positionY", 0.0f);
-				data.positionZ      = item.value("positionZ", 0.0f);
-				data.walkSpeed      = item.value("walkSpeed", 1.5f);
-				data.rotationSpeed  = item.value("rotationSpeed", 8.0f);
+				data.positionX      = static_cast<fp>(item.value<double>("positionX", 0.0));
+				data.positionY      = static_cast<fp>(item.value<double>("positionY", 0.0));
+				data.positionZ      = static_cast<fp>(item.value<double>("positionZ", 0.0));
+				data.walkSpeed      = static_cast<fp>(item.value<double>("walkSpeed", 1.5));
+				data.rotationSpeed  = static_cast<fp>(item.value<double>("rotationSpeed", 8.0));
 				data.modelScale     = item.value("modelScale", 0.01f);
 				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) * static_cast<float>(M_PI) / 180.0f;
+				data.facingAngle    = static_cast<fp>(item.value("facingAngle", 0.0f)) * static_cast<fp>(kPi) / static_cast<fp>(180.0f);
 				data.hp             = item.value("hp", 100.0f);
-				data.visibleRange   = item.value("visibleRange", VISIBLE_RANGE);
+				data.visibleRange   = static_cast<fp>(item.value<double>("visibleRange", static_cast<double>(VISIBLE_RANGE)));
 				data.canAttack      = item.value("canAttack", false);
 				data.enabled        = item.value("enabled", true);
 
@@ -401,7 +404,7 @@ namespace FRG {
 					renderer, zipPath.c_str());
 				if (npc) {
 					logger() << "Successfully loaded NPC: " << npcData.name << " at ("
-					          << npcData.positionX << ", " << npcData.positionY << ", " << npcData.positionZ << ")" << std::endl;
+					          << static_cast<float>(npcData.positionX) << ", " << static_cast<float>(npcData.positionY) << ", " << static_cast<float>(npcData.positionZ) << ")" << std::endl;
 					npcs.push_back(std::move(npc));
 				}
 			} catch (const std::exception& e) {

src/main.cpp

@@ -2,6 +2,7 @@
 #include "Environment.h"
 #include "utils/Utils.h"
 #include <iostream>
+#include <cmath>
 #ifdef __ANDROID__
 #include <android/log.h>
 #endif
@@ -75,14 +76,27 @@ extern "C" void EMSCRIPTEN_KEEPALIVE onFileSystemLoaded() {
 }
 
 
+// Single definition of the "logical" viewport size: the *visible* area of the page
+// (visualViewport), not 100vh, which on mobile includes the area under the URL bar.
+static void getViewportCssSize(int& w, int& h) {
+	w = EM_ASM_INT({
+		var vv = window.visualViewport;
+		return Math.round((vv && vv.width) || window.innerWidth);
+	});
+	h = EM_ASM_INT({
+		var vv = window.visualViewport;
+		return Math.round((vv && vv.height) || window.innerHeight);
+	});
+}
+
 static void applyResize(int logicalW, int logicalH) {
 	// Получаем коэффициент плотности пикселей (например, 2.625 на Pixel или 3.0 на Samsung)
 	double dpr = emscripten_get_device_pixel_ratio();
 	//double dpr = 1; // low quality
 
 	// Вычисляем реальные физические пиксели
-	int physicalW = static_cast<int>(logicalW * dpr);
-	int physicalH = static_cast<int>(logicalH * dpr);
+	int physicalW = static_cast<int>(std::lround(logicalW * dpr));
+	int physicalH = static_cast<int>(std::lround(logicalH * dpr));
 
 	// Устанавливаем размер внутреннего буфера канваса
 	emscripten_set_canvas_element_size("#canvas", physicalW, physicalH);
@@ -94,6 +108,11 @@ static void applyResize(int logicalW, int logicalH) {
 		SDL_SetWindowSize(FRG::Environment::window, physicalW, physicalH);
 	}
 
+	// SDL may have written an inline CSS size derived from the physical pixels, which
+	// overrides the stylesheet. Re-assert the CSS box so its aspect always matches the
+	// drawing buffer (otherwise the image is stretched / cropped on mobile).
+	emscripten_set_element_css_size("#canvas", logicalW, logicalH);
+
 	// Пушим событие, чтобы движок пересчитал матрицы проекции
 	SDL_Event e = {};
 	e.type = SDL_WINDOWEVENT;
@@ -118,8 +137,8 @@ void MainLoop() {
 
 		// Теперь DOM перестроен, можно забирать актуальные размеры.
 		// Если canvas должен занимать все окно браузера:
-		int canvasW = EM_ASM_INT({ return window.innerWidth; });
-		int canvasH = EM_ASM_INT({ return window.innerHeight; });
+		int canvasW, canvasH;
+		getViewportCssSize(canvasW, canvasH);
 
 		applyResize(canvasW, canvasH);
 	}
@@ -141,14 +160,10 @@ EM_BOOL onWebGLContextRestored(int /*eventType*/, const void* /*reserved*/, void
 
 
 EM_BOOL onWindowResized(int /*eventType*/, const EmscriptenUiEvent* e, void* /*userData*/) {
-	double w, h;
-	emscripten_get_element_css_size("window", &w, &h);
+	int w, h;
+	getViewportCssSize(w, h);
 
-	// Если "window" не поддерживается вашей версией SDK, используем данные из e:
-	// int logicalW = e->windowInnerWidth;
-	// int logicalH = e->windowInnerHeight;
-
-	applyResize(static_cast<int>(w), static_cast<int>(h));
+	applyResize(w, h);
 	return EM_FALSE;
 }
 
@@ -181,8 +196,8 @@ int main(int argc, char* argv[]) {
 	emscripten_set_resize_callback(EMSCRIPTEN_EVENT_TARGET_WINDOW, nullptr, EM_FALSE, onWindowResized);
 	emscripten_set_fullscreenchange_callback(EMSCRIPTEN_EVENT_TARGET_DOCUMENT, nullptr, EM_TRUE, onFullscreenChanged);
 
-	int canvasW = EM_ASM_INT({ return window.innerWidth; });
-	int canvasH = EM_ASM_INT({ return window.innerHeight; });
+	int canvasW, canvasH;
+	getViewportCssSize(canvasW, canvasH);
 	applyResize(canvasW, canvasH);
 
 	SDL_SetHint(SDL_HINT_MOUSE_TOUCH_EVENTS, "0");

src/navigation/PathFinder.cpp

@@ -12,8 +12,27 @@
 namespace FRG {
 
 using json = nlohmann::json;
+Vec3fp operator-(Vec3fp a, Vec3fp b)
+{
+    return Vec3fp{
+        a.x - b.x,
+        a.y - b.y,
+        a.z - b.z
+    };
+}
+Vec3fp operator+(Vec3fp a, Vec3fp b)
+{
+    return Vec3fp{
+        a.x + b.x,
+        a.y + b.y,
+        a.z + b.z
+    };
+}
 
 namespace {
+
+
+
     std::vector<Eigen::Vector2f> readPolygon(const json& item)
     {
         std::vector<Eigen::Vector2f> polygon;
@@ -79,7 +98,7 @@ namespace {
     }
 }
 
-void PathFinder::build(const std::string& configPath,
+void PathFinderOld::build(const std::string& configPath,
                        const std::string& zipPath)
 {
     ready = false;
@@ -115,22 +134,23 @@ void PathFinder::build(const std::string& configPath,
               << ", cell=" << cellSize << ", areas=" << areas.size() << "\n";
 }
 
-std::vector<Eigen::Vector3f> PathFinder::findPath(const Eigen::Vector3f& start,
+std::vector<Eigen::Vector3f> PathFinderOld::findPath(const Eigen::Vector3f& start,
                                                   const Eigen::Vector3f& end) const
 {
-    const std::lock_guard<std::mutex> lock(*queryMutex);
-    return runSearch(start, end, 0, false);
+    //const std::lock_guard<std::mutex> lock(*queryMutex);
+    //return runSearch(start, end, 0, false);
+    return std::vector<Eigen::Vector3f>{start, end};
 }
 
-std::vector<Eigen::Vector3f> PathFinder::findPath(const Eigen::Vector3f& start,
+/*
+std::vector<Eigen::Vector3f> PathFinderOld::findPath(const Eigen::Vector3f& start,
                                                   const Eigen::Vector3f& end,
                                                   const std::vector<DynamicObstacle>& dynamicObstacles) const
 {
     const std::lock_guard<std::mutex> lock(*queryMutex);
     return runSearch(start, end, buildDynamicOverlay(dynamicObstacles), false);
-}
-
-std::uint32_t PathFinder::buildDynamicOverlay(
+}*/
+std::uint32_t PathFinderOld::buildDynamicOverlay(
     const std::vector<DynamicObstacle>& dynamicObstacles) const
 {
     const size_t cellCount = walkable.size();
@@ -172,7 +192,7 @@ std::uint32_t PathFinder::buildDynamicOverlay(
     return dynamicGeneration;
 }
 
-bool PathFinder::isCellWalkableOverlay(
+bool PathFinderOld::isCellWalkableOverlay(
     const Cell& cell, std::uint32_t generation) const
 {
     if (!isCellWalkable(cell)) return false;
@@ -180,7 +200,7 @@ bool PathFinder::isCellWalkableOverlay(
         dynamicBlockedGeneration[static_cast<size_t>(indexOf(cell))] != generation;
 }
 
-bool PathFinder::findNearestWalkableCellOverlay(
+bool PathFinderOld::findNearestWalkableCellOverlay(
     const Eigen::Vector3f& point, Cell& out, std::uint32_t generation) const
 {
     Cell origin;
@@ -212,7 +232,7 @@ bool PathFinder::findNearestWalkableCellOverlay(
     return false;
 }
 
-bool PathFinder::hasLineOfSightOverlay(
+bool PathFinderOld::hasLineOfSightOverlay(
     const Cell& from, const Cell& to, std::uint32_t generation) const
 {
     int x = from.x;
@@ -244,7 +264,7 @@ bool PathFinder::hasLineOfSightOverlay(
     }
 }
 
-std::vector<PathFinder::Cell> PathFinder::smoothCellsOverlay(
+std::vector<PathFinderOld::Cell> PathFinderOld::smoothCellsOverlay(
     const std::vector<Cell>& cells, std::uint32_t generation) const
 {
     if (cells.size() <= 2) return cells;
@@ -263,7 +283,7 @@ std::vector<PathFinder::Cell> PathFinder::smoothCellsOverlay(
     return result;
 }
 
-std::vector<Eigen::Vector3f> PathFinder::runSearch(
+std::vector<Eigen::Vector3f> PathFinderOld::runSearch(
     const Eigen::Vector3f& start,
     const Eigen::Vector3f& end,
     std::uint32_t obstacleGeneration,
@@ -385,23 +405,25 @@ std::vector<Eigen::Vector3f> PathFinder::runSearch(
     return path;
 }
 
-std::vector<Eigen::Vector3f> PathFinder::findPathToNearest(
+std::vector<Eigen::Vector3f> PathFinderOld::findPathToNearest(
     const Eigen::Vector3f& start, const Eigen::Vector3f& end) const
 {
-    const std::lock_guard<std::mutex> lock(*queryMutex);
-    return runSearch(start, end, 0, true);
+    //const std::lock_guard<std::mutex> lock(*queryMutex);
+   // return runSearch(start, end, 0, true);
+    return std::vector<Eigen::Vector3f>{start, end};
 }
 
-std::vector<Eigen::Vector3f> PathFinder::findPathToNearest(
+/*
+std::vector<Eigen::Vector3f> PathFinderOld::findPathToNearest(
     const Eigen::Vector3f& start, const Eigen::Vector3f& end,
     const std::vector<DynamicObstacle>& dynamicObstacles) const
 {
     const std::lock_guard<std::mutex> lock(*queryMutex);
     return runSearch(
         start, end, buildDynamicOverlay(dynamicObstacles), true);
-}
+}*/
 
-bool PathFinder::setAreaAvailable(const std::string& areaName, bool available)
+bool PathFinderOld::setAreaAvailable(const std::string& areaName, bool available)
 {
     bool found = false;
     bool changed = false;
@@ -420,13 +442,13 @@ bool PathFinder::setAreaAvailable(const std::string& areaName, bool available)
     return found;
 }
 
-bool PathFinder::isWalkable(const Eigen::Vector3f& point) const
+bool PathFinderOld::isWalkable(const Eigen::Vector3f& point) const
 {
     Cell cell;
     return worldToCell(point, cell) && isCellWalkable(cell, walkable);
 }
 
-void PathFinder::addObstaclePolygon(const ObstaclePolygon& polygon)
+void PathFinderOld::addObstaclePolygon(const ObstaclePolygon& polygon)
 {
     obstaclePolygons.push_back(polygon);
     if (ready) {
@@ -434,7 +456,7 @@ void PathFinder::addObstaclePolygon(const ObstaclePolygon& polygon)
     }
 }
 
-bool PathFinder::saveConfig(const std::string& path) const
+bool PathFinderOld::saveConfig(const std::string& path) const
 {
     json root;
     root["cellSize"]        = cellSize;
@@ -481,7 +503,7 @@ bool PathFinder::saveConfig(const std::string& path) const
 	return saveJsonToFile(root, path);
 }
 
-bool PathFinder::saveGrid(const std::string& path) const
+bool PathFinderOld::saveGrid(const std::string& path) const
 {
 #if defined(_WIN32)
     if (!ready) return false;
@@ -510,7 +532,7 @@ bool PathFinder::saveGrid(const std::string& path) const
 #endif
 }
 
-bool PathFinder::loadGrid(const std::string& path, const std::string& zipPath)
+bool PathFinderOld::loadGrid(const std::string& path, const std::string& zipPath)
 {
     std::string content;
     try {
@@ -565,7 +587,7 @@ bool PathFinder::loadGrid(const std::string& path, const std::string& zipPath)
     return true;
 }
 
-void PathFinder::loadConfig(const std::string& configPath, const std::string& zipPath)
+void PathFinderOld::loadConfig(const std::string& configPath, const std::string& zipPath)
 {
     cellSize = 0.4f;
     agentRadius = 0.45f;
@@ -640,7 +662,7 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
     boundaryPadding = (std::max)(boundaryPadding, 0.0f);
 }
 
-void PathFinder::resetGridBounds()
+void PathFinderOld::resetGridBounds()
 {
     if (areas.empty()) {
         gridWidth = 0;
@@ -682,14 +704,14 @@ void PathFinder::resetGridBounds()
     gridDepth = static_cast<int>(std::ceil((maxZ - minZ) / cellSize));
 }
 
-void PathFinder::rebuildWalkableGrid()
+void PathFinderOld::rebuildWalkableGrid()
 {
     walkable.assign(static_cast<size_t>(gridWidth * gridDepth), 0);
     markAvailableAreasWalkable();
     markObstaclePolygonsBlocked();
 }
 
-void PathFinder::markAvailableAreasWalkable()
+void PathFinderOld::markAvailableAreasWalkable()
 {
     const auto insideAvailableArea = [this](const Eigen::Vector2f& point) {
         for (const NavigationArea& area : areas) {
@@ -763,7 +785,7 @@ void PathFinder::markAvailableAreasWalkable()
     }
 }
 
-void PathFinder::markObstaclePolygonsBlocked()
+void PathFinderOld::markObstaclePolygonsBlocked()
 {
     if (obstaclePolygons.empty()) {
         return;
@@ -800,7 +822,7 @@ void PathFinder::markObstaclePolygonsBlocked()
     }
 }
 
-bool PathFinder::worldToCell(const Eigen::Vector3f& point, Cell& out) const
+bool PathFinderOld::worldToCell(const Eigen::Vector3f& point, Cell& out) const
 {
     if (gridWidth <= 0 || gridDepth <= 0) {
         out = {};
@@ -812,7 +834,7 @@ bool PathFinder::worldToCell(const Eigen::Vector3f& point, Cell& out) const
     return isInsideGrid(out);
 }
 
-Eigen::Vector3f PathFinder::cellCenter(const Cell& cell) const
+Eigen::Vector3f PathFinderOld::cellCenter(const Cell& cell) const
 {
     return {
         minX + (static_cast<float>(cell.x) + 0.5f) * cellSize,
@@ -821,17 +843,17 @@ Eigen::Vector3f PathFinder::cellCenter(const Cell& cell) const
     };
 }
 
-bool PathFinder::isInsideGrid(const Cell& cell) const
+bool PathFinderOld::isInsideGrid(const Cell& cell) const
 {
     return cell.x >= 0 && cell.z >= 0 && cell.x < gridWidth && cell.z < gridDepth;
 }
 
-bool PathFinder::isCellWalkable(const Cell& cell) const
+bool PathFinderOld::isCellWalkable(const Cell& cell) const
 {
     return isCellWalkable(cell, walkable);
 }
 
-bool PathFinder::isCellWalkable(const Cell& cell, const std::vector<unsigned char>& walkableGrid) const
+bool PathFinderOld::isCellWalkable(const Cell& cell, const std::vector<unsigned char>& walkableGrid) const
 {
     const int idx = indexOf(cell);
     return isInsideGrid(cell) &&
@@ -840,17 +862,17 @@ bool PathFinder::isCellWalkable(const Cell& cell, const std::vector<unsigned cha
            walkableGrid[static_cast<size_t>(idx)] != 0;
 }
 
-int PathFinder::indexOf(const Cell& cell) const
+int PathFinderOld::indexOf(const Cell& cell) const
 {
     return cell.z * gridWidth + cell.x;
 }
 
-bool PathFinder::findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out) const
+bool PathFinderOld::findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out) const
 {
     return findNearestWalkableCell(point, out, walkable);
 }
 
-bool PathFinder::findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out, const std::vector<unsigned char>& walkableGrid) const
+bool PathFinderOld::findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out, const std::vector<unsigned char>& walkableGrid) const
 {
     Cell origin;
     if (!worldToCell(point, origin)) {
@@ -885,12 +907,12 @@ bool PathFinder::findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out
     return false;
 }
 
-bool PathFinder::hasLineOfSight(const Cell& from, const Cell& to) const
+bool PathFinderOld::hasLineOfSight(const Cell& from, const Cell& to) const
 {
     return hasLineOfSight(from, to, walkable);
 }
 
-bool PathFinder::hasLineOfSight(const Cell& from, const Cell& to, const std::vector<unsigned char>& walkableGrid) const
+bool PathFinderOld::hasLineOfSight(const Cell& from, const Cell& to, const std::vector<unsigned char>& walkableGrid) const
 {
     const Eigen::Vector3f a = cellCenter(from);
     const Eigen::Vector3f b = cellCenter(to);
@@ -909,12 +931,12 @@ bool PathFinder::hasLineOfSight(const Cell& from, const Cell& to, const std::vec
     return true;
 }
 
-std::vector<PathFinder::Cell> PathFinder::smoothCells(const std::vector<Cell>& cells) const
+std::vector<PathFinderOld::Cell> PathFinderOld::smoothCells(const std::vector<Cell>& cells) const
 {
     return smoothCells(cells, walkable);
 }
 
-std::vector<PathFinder::Cell> PathFinder::smoothCells(const std::vector<Cell>& cells, const std::vector<unsigned char>& walkableGrid) const
+std::vector<PathFinderOld::Cell> PathFinderOld::smoothCells(const std::vector<Cell>& cells, const std::vector<unsigned char>& walkableGrid) const
 {
     if (cells.size() <= 2) {
         return cells;
@@ -937,7 +959,7 @@ std::vector<PathFinder::Cell> PathFinder::smoothCells(const std::vector<Cell>& c
     return result;
 }
 
-bool PathFinder::pointInPolygon(float x, float z, const std::vector<Eigen::Vector2f>& polygon)
+bool PathFinderOld::pointInPolygon(float x, float z, const std::vector<Eigen::Vector2f>& polygon)
 {
     bool inside = false;
     size_t previous = polygon.size() - 1;

src/navigation/PathFinder.h

@@ -1,15 +1,587 @@
 #pragma once
 
 #include <Eigen/Core>
+#include <algorithm>
 #include <cstdint>
+#include <limits>
 #include <memory>
 #include <mutex>
+#include <queue>
 #include <string>
+#include <unordered_map>
 #include <vector>
 
+#ifdef min
+#undef min
+#endif
+#ifdef max
+#undef max
+#endif
+#include "../../thirdparty/fpm-1.1.0/include/fpm/fixed.hpp"
+#include "../../thirdparty/fpm-1.1.0/include/fpm/math.hpp"
+
+// Сторонние библиотеки для геометрии (Header-only / легко подключаемые):
+// 1. Clipper2: https://github.com/PolyClipping/Clipper2/releases/tag/Clipper2_2.0.1
+// 2. CDT (Constrained Delaunay Triangulation): https://github.com/artem-ogre/CDT
+
+#include "../../thirdparty/Clipper2-Clipper2_2.0.1/CPP/build/Release/include/clipper2/clipper.h"
+#include "../../thirdparty/CDT-2.0.2/CDT/build/release/include/CDT.h"
+
 namespace FRG {
 
-class PathFinder {
+
+    //using fp = fpm::fixed<std::int32_t, std::int64_t, 16>;
+    inline constexpr unsigned int FP_FRACTION_BITS = 12;
+    using fp = fpm::fixed<std::int32_t, std::int64_t, FP_FRACTION_BITS>;
+
+    struct Vec2fp {
+        fp x{ 0 };
+        fp y{ 0 };
+
+        Vec2fp() = default;
+        Vec2fp(fp _x, fp _y) : x(_x), y(_y) {}
+
+        // Конвертация из float только на этапе загрузки/ввода
+        static Vec2fp fromFloat(float fx, float fy) {
+            return Vec2fp(fp(fx), fp(fy));
+        }
+
+        Vec2fp operator+(const Vec2fp& o) const { return { x + o.x, y + o.y }; }
+        Vec2fp operator-(const Vec2fp& o) const { return { x - o.x, y - o.y }; }
+        Vec2fp operator*(fp s) const { return { x * s, y * s }; }
+        Vec2fp operator/(fp s) const { return { x / s, y / s }; }
+        bool operator==(const Vec2fp& o) const { return x == o.x && y == o.y; }
+        bool operator!=(const Vec2fp& o) const { return !(*this == o); }
+        fp dot(const Vec2fp& o) const { return x * o.x + y * o.y; }
+
+        // 2D Векторное произведение (Z-компонента): определяет, с какой стороны лежит точка
+        fp cross(const Vec2fp& o) const { return x * o.y - y * o.x; }
+
+        fp lengthSq() const { return x * x + y * y; }
+        fp length() const { return fpm::sqrt(lengthSq()); }
+
+        Eigen::Vector2f toEigen() const {
+            return Eigen::Vector2f(static_cast<float>(x), static_cast<float>(y));
+        }
+
+        static Vec2fp fromEigen(const Eigen::Vector2f& v) {
+            return Vec2fp(fp(v.x()), fp(v.y()));
+        }
+    };
+
+    struct Vec3fp {
+        fp x{ 0 }, y{ 0 }, z{ 0 };
+        Vec3fp() = default;
+        Vec3fp(fp _x, fp _y, fp _z) : x(_x), y(_y), z(_z) {}
+
+        static Vec3fp fromEigen(const Eigen::Vector3f& v) {
+            return { fp(v.x()), fp(v.y()), fp(v.z()) };
+        }
+        Eigen::Vector3f toEigen() const {
+            return Eigen::Vector3f(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z));
+        }
+
+        fp normSquared() const
+        {
+            return x * x + y * y + z * z;
+        }
+        Vec3fp operator/(fp value) const
+        {
+            if (value == static_cast<fp>(0.0))
+            {
+                throw std::runtime_error("Vec3fp error: division by zero");
+                return Vec3fp();
+            }
+            Vec3fp r;
+            r.x = x / value;
+            r.y = y / value;
+            r.z = z / value;
+            return r;
+        }
+        Vec3fp operator*(const fp value) const
+        {
+            Vec3fp r;
+            r.x = x * value;
+            r.y = y * value;
+            r.z = z * value;
+            return r;
+        }
+    };
+
+    Vec3fp operator-(Vec3fp a, Vec3fp b);
+    Vec3fp operator+(Vec3fp a, Vec3fp b);
+
+    inline std::vector<Eigen::Vector2f> toEigenVector(const std::vector<FRG::Vec2fp>& src) {
+        std::vector<Eigen::Vector2f> dst;
+        dst.reserve(src.size());
+        for (const auto& pt : src) {
+            dst.emplace_back(static_cast<float>(pt.x), static_cast<float>(pt.y));
+        }
+        return dst;
+    }
+
+    inline std::vector<FRG::Vec2fp> fromEigenVector(const std::vector<Eigen::Vector2f>& src) {
+        std::vector<FRG::Vec2fp> dst;
+        dst.reserve(src.size());
+        for (const auto& pt : src) {
+            dst.emplace_back(FRG::fp(pt.x()), FRG::fp(pt.y()));
+        }
+        return dst;
+    }
+
+    class PathFinder {
+    public:
+        struct NavigationArea {
+            std::string name;
+            bool available = true;
+            std::vector<Vec2fp> polygon;
+        };
+
+        struct ObstaclePolygon {
+            std::string name;
+            std::vector<Vec2fp> polygon;
+        };
+
+        struct NavTriangle {
+            int id = -1;
+            Vec2fp vertices[3];
+            Vec2fp center;
+            int neighbors[3] = { -1, -1, -1 }; // Индексы соседних треугольников по ребрам (0-1, 1-2, 2-0)
+        };
+
+        struct Portal {
+            Vec2fp left;
+            Vec2fp right;
+        };
+
+        // Масштаб для Clipper2 (так как Clipper работает с целыми int64_t, 
+        // сохраняем точность в 10000 единиц на 1 метр)
+        static constexpr int64_t CLIPPER_SCALE = 10000;
+
+        void build(const std::string& configPath = "", const std::string& zipPath = "") {
+            // Здесь может быть парсинг configPath в area и obstaclePolygons.
+            // После заполнения геометрии строим NavMesh:
+            area.name = "main";
+            area.polygon = {
+                Vec2fp::fromFloat(-100.f, -100.f),
+                Vec2fp::fromFloat(-100.f, 100.f),
+                Vec2fp::fromFloat(100.f, 100.f),
+                Vec2fp::fromFloat(100.f, -100.f)
+            };
+
+            area.available = true;
+
+            obstaclePolygons.push_back({
+                "p1", {Vec2fp::fromFloat(-10.f, -10.f),
+                Vec2fp::fromFloat(-10.f, 10.f),
+                Vec2fp::fromFloat(10.f, 10.f),
+                Vec2fp::fromFloat(10.f, -10.f)}
+                });
+
+            //ready = true;
+
+            generateNavMesh();
+        }
+
+        // Построение NavMesh: Объединение полигонов (Clipper2) + Триангуляция (CDT)
+        void generateNavMesh() {
+            navMesh.clear();
+            if (area.polygon.size() < 3) return;
+
+            using namespace Clipper2Lib;
+
+            // Вспомогательная лямбда: безопасно переводит fp в координаты Clipper2 (int64_t)
+            auto toClipperCoord = [](fp val) -> int64_t {
+                return (static_cast<int64_t>(val.raw_value()) * CLIPPER_SCALE) / (1LL << FP_FRACTION_BITS);
+                };
+
+            // 1. Переводим контур локации (NavigationArea) в формат Clipper2
+            Paths64 subject;
+            Path64 outerPath;
+            for (const auto& pt : area.polygon) {
+                outerPath.push_back(Point64(toClipperCoord(pt.x), toClipperCoord(pt.y)));
+            }
+            subject.push_back(outerPath);
+
+            // 2. Собираем все препятствия
+            Paths64 clips;
+            for (const auto& obs : obstaclePolygons) {
+                if (obs.polygon.size() < 3) continue;
+                Path64 clipPath;
+                for (const auto& pt : obs.polygon) {
+                    clipPath.push_back(Point64(toClipperCoord(pt.x), toClipperCoord(pt.y)));
+                }
+                clips.push_back(clipPath);
+            }
+
+            // 3. Булево объединение пересекающихся препятствий и вычитание их из локации
+            // Clipper автоматически объединяет пересекающиеся полигоны внутри Difference
+            PolyTree64 solTree;
+            Clipper64 clipper;
+            clipper.AddSubject(subject);
+            clipper.AddClip(clips);
+            //clipper.Execute(ClipType::Difference, FillRule::NonZero, solTree);
+            clipper.Execute(ClipType::Difference, FillRule::EvenOdd, solTree);
+
+            // 4. Подготовка данных для Constrained Delaunay Triangulation (CDT)
+            std::vector<CDT::V2d<double>> cdtVertices;
+            std::vector<CDT::Edge> cdtEdges;
+
+            auto extractPolygons = [&](const PolyPath64* node, auto& selfRef) -> void {
+                if (!node->Polygon().empty()) {
+                    const Path64& path = node->Polygon();
+                    std::size_t startIdx = cdtVertices.size();
+                    std::size_t count = path.size();
+
+                    for (std::size_t i = 0; i < count; ++i) {
+                        double x = static_cast<double>(path[i].x) / CLIPPER_SCALE;
+                        double y = static_cast<double>(path[i].y) / CLIPPER_SCALE;
+                        cdtVertices.push_back({ x, y });
+                        cdtEdges.push_back(CDT::Edge(startIdx + i, startIdx + (i + 1) % count));
+                    }
+                }
+                for (std::size_t i = 0; i < node->Count(); ++i) {
+                    selfRef(node->Child(i), selfRef);
+                }
+                };
+
+            for (std::size_t i = 0; i < solTree.Count(); ++i) {
+                extractPolygons(solTree.Child(i), extractPolygons);
+            }
+
+            if (cdtVertices.empty()) return;
+
+            CDT::RemoveDuplicatesAndRemapEdges(cdtVertices, cdtEdges);
+
+            // 5. Выполняем триангуляцию и удаляем треугольники внутри дыр (препятствий)
+            CDT::Triangulation<double> cdt;
+            cdt.insertVertices(cdtVertices);
+            cdt.insertEdges(cdtEdges);
+            cdt.eraseOuterTrianglesAndHoles();
+
+            // 6. Конвертируем результат в детерминированный граф NavTriangle (Q32.32)
+            const auto& triangles = cdt.triangles;
+            const auto& vertices = cdt.vertices;
+            navMesh.resize(triangles.size());
+
+            for (std::size_t i = 0; i < triangles.size(); ++i) {
+                NavTriangle& navTri = navMesh[i];
+                navTri.id = static_cast<int>(i);
+
+                for (int j = 0; j < 3; ++j) {
+                    const auto& v = vertices[triangles[i].vertices[j]];
+                    navTri.vertices[j] = Vec2fp(fp(v.x), fp(v.y));
+
+                    // Соседи в CDT хранятся напротив вершин, перепривязываем к ребрам (j, j+1)
+                    auto neighborIdx = triangles[i].neighbors[j];
+                    navTri.neighbors[j] = (neighborIdx != CDT::noNeighbor) ? static_cast<int>(neighborIdx) : -1;
+                }
+
+                navTri.center = (navTri.vertices[0] + navTri.vertices[1] + navTri.vertices[2]) / fp(3);
+            }
+
+            ready = !navMesh.empty();
+        }
+
+        // Основной метод поиска пути (плоскость XZ, Y — высота)
+        std::vector<Vec3fp> findPathToNearest(const Vec3fp& start3D, const Vec3fp& end3D) const {
+            if (!ready || !area.available) return { start3D };
+
+            Vec2fp startPt(start3D.x, start3D.z);
+            Vec2fp targetPt(end3D.x, end3D.z);
+
+            // 1. Находим треугольники для старта и финиша.
+            // Если точка попала в препятствие (вне NavMesh), ищем ближайшую точку на ребрах NavMesh
+            int startTri = findTriangleContaining(startPt);
+            if (startTri == -1) {
+                startPt = findClosestPointOnNavMesh(startPt, startTri);
+            }
+
+            int endTri = findTriangleContaining(targetPt);
+            if (endTri == -1) {
+                targetPt = findClosestPointOnNavMesh(targetPt, endTri);
+            }
+
+            if (startTri == -1 || endTri == -1) return { start3D };
+
+            // Если старт и конец в одном треугольнике — идем по прямой
+            if (startTri == endTri) {
+                return {
+                    start3D,
+                    Vec3fp(targetPt.x, floorY, targetPt.y)
+                };
+            }
+
+            // 2. Поиск коридора из треугольников через A*
+            std::vector<int> triangleCorridor = runAStar(startTri, endTri, startPt, targetPt);
+            if (triangleCorridor.empty()) return { start3D };
+
+            // 3. Сглаживание пути через Funnel Algorithm (Натянутая нить)
+            std::vector<Vec2fp> smoothPath2D = stringPullFunnel(startPt, targetPt, triangleCorridor);
+
+            // 4. Формируем выходной массив 3D точек
+            std::vector<Vec3fp> result;
+            result.reserve(smoothPath2D.size());
+            for (const auto& pt : smoothPath2D) {
+                result.emplace_back(pt.x, floorY, pt.y);
+            }
+            return result;
+        }
+
+        // Перегрузка для совместимости со старым Eigen-интерфейсом
+        std::vector<Eigen::Vector3f> findPathToNearest(const Eigen::Vector3f& start, const Eigen::Vector3f& end) const {
+            auto pathFp = findPathToNearest(Vec3fp::fromEigen(start), Vec3fp::fromEigen(end));
+            std::vector<Eigen::Vector3f> out;
+            out.reserve(pathFp.size());
+            for (const auto& p : pathFp) out.push_back(p.toEigen());
+            return out;
+        }
+
+        bool isWalkable(const Vec3fp& point) const {
+            return findTriangleContaining(Vec2fp(point.x, point.z)) != -1;
+        }
+
+        bool isWalkable(const Eigen::Vector3f& point) const {
+            return isWalkable(Vec3fp::fromEigen(point));
+        }
+
+        bool setAreaAvailable(const std::string& areaName, bool available) {
+            if (area.name == areaName) {
+                area.available = available;
+                return true;
+            }
+            return false;
+        }
+
+        bool isReady() const { return ready; }
+        const NavigationArea& getArea() const { return area; }
+        void setArea(const NavigationArea& a) { area = a; }
+
+        fp getFloorY() const { return floorY; }
+        void setFloorY(fp y) { floorY = y; }
+
+        void addObstaclePolygon(const ObstaclePolygon& polygon) {
+            obstaclePolygons.push_back(polygon);
+        }
+        const std::vector<ObstaclePolygon>& getObstaclePolygons() const { return obstaclePolygons; }
+
+        bool saveConfig(const std::string& path) const { return true; }
+        bool saveGrid(const std::string& path) const { return true; }
+
+        // Внутри public: класса PathFinder
+        Vec2fp clampToNavMesh(const Vec2fp& pt, int& outTriId) const {
+            return findClosestPointOnNavMesh(pt, outTriId);
+        }
+
+        // Удобная перегрузка без outTriId, если индекс треугольника не нужен:
+        Vec2fp clampToNavMesh(const Vec2fp& pt) const {
+            int dummyTri = -1;
+            return findClosestPointOnNavMesh(pt, dummyTri);
+        }
+
+    protected:
+        NavigationArea area;
+        std::vector<ObstaclePolygon> obstaclePolygons;
+        std::vector<NavTriangle> navMesh;
+        fp floorY{ 0 };
+        bool ready = false;
+
+        // Проверка нахождения точки внутри треугольника (через знаки векторных произведений)
+        static bool isPointInTriangle(const Vec2fp& p, const Vec2fp& a, const Vec2fp& b, const Vec2fp& c) {
+            fp d1 = (b - a).cross(p - a);
+            fp d2 = (c - b).cross(p - b);
+            fp d3 = (a - c).cross(p - c);
+
+            bool hasNeg = (d1 < fp(0)) || (d2 < fp(0)) || (d3 < fp(0));
+            bool hasPos = (d1 > fp(0)) || (d2 > fp(0)) || (d3 > fp(0));
+            return !(hasNeg && hasPos);
+        }
+
+        int findTriangleContaining(const Vec2fp& pt) const {
+            for (const auto& tri : navMesh) {
+                if (isPointInTriangle(pt, tri.vertices[0], tri.vertices[1], tri.vertices[2])) {
+                    return tri.id;
+                }
+            }
+            return -1;
+        }
+
+        // Проекция точки на отрезок AB
+        static Vec2fp closestPointOnSegment(const Vec2fp& p, const Vec2fp& a, const Vec2fp& b) {
+            Vec2fp ab = b - a;
+            fp lenSq = ab.lengthSq();
+            if (lenSq == fp(0)) return a;
+
+            fp t = (p - a).dot(ab) / lenSq;
+            t = std::max(fp(0), std::min(fp(1), t));
+            return a + ab * t;
+        }
+
+        Vec2fp findClosestPointOnNavMesh(const Vec2fp& pt, int& outTriId) const {
+            fp minDistSq = std::numeric_limits<fp>::max();
+            Vec2fp bestPt = pt;
+            outTriId = -1;
+
+            for (const auto& tri : navMesh) {
+                for (int i = 0; i < 3; ++i) {
+                    // В CDT neighbors[i] — это сосед через ребро (vertices[i], vertices[(i + 1) % 3])
+                    if (tri.neighbors[i] == -1) {
+                        const Vec2fp& a = tri.vertices[i];
+                        const Vec2fp& b = tri.vertices[(i + 1) % 3];
+                        Vec2fp proj = closestPointOnSegment(pt, a, b);
+                        fp distSq = (pt - proj).lengthSq();
+
+                        if (distSq < minDistSq) {
+                            minDistSq = distSq;
+                            bestPt = proj;
+                            outTriId = tri.id;
+                        }
+                    }
+                }
+            }
+            return bestPt;
+        }
+
+        // Поиск пути A* по центрам треугольников
+        std::vector<int> runAStar(int startTri, int endTri, const Vec2fp& startPt, const Vec2fp& endPt) const {
+            struct NodeRecord {
+                int triId;
+                fp fScore;
+                // В случае равенства fScore сортируем по triId для 100% детерминизма
+                bool operator>(const NodeRecord& o) const {
+                    if (fScore != o.fScore) return fScore > o.fScore;
+                    return triId > o.triId;
+                }
+            };
+
+            std::priority_queue<NodeRecord, std::vector<NodeRecord>, std::greater<NodeRecord>> openSet;
+            std::vector<fp> gScore(navMesh.size(), std::numeric_limits<fp>::max());
+            std::vector<int> cameFrom(navMesh.size(), -1);
+            std::vector<bool> closed(navMesh.size(), false);
+
+            gScore[startTri] = fp(0);
+            openSet.push({ startTri, (navMesh[startTri].center - endPt).length() });
+
+            while (!openSet.empty()) {
+                int current = openSet.top().triId;
+                openSet.pop();
+
+                if (current == endTri) {
+                    std::vector<int> path;
+                    for (int curr = endTri; curr != -1; curr = cameFrom[curr]) {
+                        path.push_back(curr);
+                    }
+                    std::reverse(path.begin(), path.end());
+                    return path;
+                }
+
+                if (closed[current]) continue;
+                closed[current] = true;
+
+                const NavTriangle& currTri = navMesh[current];
+                for (int i = 0; i < 3; ++i) {
+                    int neighbor = currTri.neighbors[i];
+                    if (neighbor == -1 || closed[neighbor]) continue;
+
+                    fp stepCost = (currTri.center - navMesh[neighbor].center).length();
+                    fp tentativeG = gScore[current] + stepCost;
+
+                    if (tentativeG < gScore[neighbor]) {
+                        cameFrom[neighbor] = current;
+                        gScore[neighbor] = tentativeG;
+                        fp h = (navMesh[neighbor].center - endPt).length();
+                        openSet.push({ neighbor, tentativeG + h });
+                    }
+                }
+            }
+            return {};
+        }
+
+        // Извлечение общих вершин (портала) между двумя соседними треугольниками
+// Извлечение общих вершин (портала) между двумя соседними треугольниками
+        Portal getPortal(int fromTriId, int toTriId) const {
+            const NavTriangle& t1 = navMesh[fromTriId];
+            for (int i = 0; i < 3; ++i) {
+                if (t1.neighbors[i] == toTriId) {
+                    // При обходе треугольника CCW и движении изнутри наружу через ребро i -> (i + 1) % 3:
+                    // вершина i находится СЛЕВА, а вершина (i + 1) % 3 — СПРАВА
+                    return Portal{ t1.vertices[i], t1.vertices[(i + 1) % 3] };
+                }
+            }
+            return Portal{ t1.center, t1.center };
+        }
+
+        // Алгоритм натянутой нити (Simple Stupid Funnel Algorithm)
+        std::vector<Vec2fp> stringPullFunnel(const Vec2fp& startPt, const Vec2fp& endPt, const std::vector<int>& corridor) const {
+            std::vector<Portal> portals;
+            portals.reserve(corridor.size() + 2);
+            portals.push_back({ startPt, startPt });
+
+            for (std::size_t i = 0; i + 1 < corridor.size(); ++i) {
+                portals.push_back(getPortal(corridor[i], corridor[i + 1]));
+            }
+            portals.push_back({ endPt, endPt });
+
+            std::vector<Vec2fp> pts;
+            pts.push_back(startPt);
+
+            Vec2fp portalApex = startPt;
+            Vec2fp portalLeft = startPt;
+            Vec2fp portalRight = startPt;
+            int apexIndex = 0, leftIndex = 0, rightIndex = 0;
+
+            for (int i = 1; i < static_cast<int>(portals.size()); ++i) {
+                const Vec2fp& left = portals[i].left;
+                const Vec2fp& right = portals[i].right;
+
+                // Обновляем правую границу воронки
+                if ((portalRight - portalApex).cross(right - portalApex) <= fp(0)) {
+                    if (portalApex == portalRight || (portalLeft - portalApex).cross(right - portalApex) > fp(0)) {
+                        portalRight = right;
+                        rightIndex = i;
+                    }
+                    else {
+                        pts.push_back(portalLeft);
+                        portalApex = portalLeft;
+                        apexIndex = leftIndex;
+                        portalLeft = portalApex;
+                        portalRight = portalApex;
+                        leftIndex = apexIndex;
+                        rightIndex = apexIndex;
+                        i = apexIndex;
+                        continue;
+                    }
+                }
+
+                // Обновляем левую границу воронки
+                if ((portalLeft - portalApex).cross(left - portalApex) >= fp(0)) {
+                    if (portalApex == portalLeft || (portalRight - portalApex).cross(left - portalApex) < fp(0)) {
+                        portalLeft = left;
+                        leftIndex = i;
+                    }
+                    else {
+                        pts.push_back(portalRight);
+                        portalApex = portalRight;
+                        apexIndex = rightIndex;
+                        portalLeft = portalApex;
+                        portalRight = portalApex;
+                        leftIndex = apexIndex;
+                        rightIndex = apexIndex;
+                        i = apexIndex;
+                        continue;
+                    }
+                }
+            }
+
+            if (pts.back() != endPt) {
+                pts.push_back(endPt);
+            }
+            return pts;
+        }
+    };
+
+
+class PathFinderOld {
 public:
 
     struct ObstaclePolygon {
@@ -39,18 +611,18 @@ public:
     std::vector<Eigen::Vector3f> findPath(const Eigen::Vector3f& start,
                                           const Eigen::Vector3f& end) const;
 
-	std::vector<Eigen::Vector3f> findPath(const Eigen::Vector3f& start,
+	/*std::vector<Eigen::Vector3f> findPath(const Eigen::Vector3f& start,
 	                                      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,
+	/*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;

src/render/PathVisualization.cpp

@@ -109,7 +109,7 @@ namespace FRG {
 		const size_t firstWaypoint = (std::min)(
 			state->currentWaypointIndex, state->pathWaypoints.size());
 		for (size_t i = firstWaypoint; i < state->pathWaypoints.size(); ++i) {
-			const Eigen::Vector3f& waypoint = state->pathWaypoints[i];
+			const Eigen::Vector3f& waypoint = state->pathWaypoints[i].toEigen();
 			route.push_back(Eigen::Vector3f(waypoint.x(), 0.0f, waypoint.z()));
 		}
 		const Eigen::Vector3f clickedPosition(
@@ -140,7 +140,7 @@ namespace FRG {
 			constexpr float kPlayerClearanceMs = 20.0f;
 			constexpr float kPlayerMaximumSpeedMultiplier = 1.5f;
 			const float playerSpeed = (std::max)(
-				state->walkSpeed * kPlayerMaximumSpeedMultiplier, 0.01f);
+				static_cast<float>(state->walkSpeed) * kPlayerMaximumSpeedMultiplier, 0.01f);
 			const float playerRouteTimeMs = totalLength / playerSpeed * 1000.0f;
 			const float revealDurationMs = (std::min)(kMaximumRevealMs, playerRouteTimeMs / 3.0f);
 			const float waveSpeed = totalLength / (revealDurationMs / 1000.0f);