fix npc

src/Game.cpp

@@ -835,7 +835,7 @@ namespace ZL
 	{
 		if (!textRenderer) return;
 
-#ifdef NETWORK
+//#ifdef NETWORK
 		// 2D поверх 3D
 		glDisable(GL_DEPTH_TEST);
 		glEnable(GL_BLEND);
@@ -882,7 +882,7 @@ namespace ZL
 
 		glDisable(GL_BLEND);
 		glEnable(GL_DEPTH_TEST);
-#endif
+//#endif
 	}
 
 	void Game::processTickCount() {

src/network/LocalClient.cpp

@@ -68,7 +68,7 @@ namespace ZL {
 	Eigen::Vector3f LocalClient::generateRandomPosition() {
 		std::random_device rd;
 		std::mt19937 gen(rd());
-		std::uniform_real_distribution<> distrib(-50.0, 50.0);
+		std::uniform_real_distribution<> distrib(-500.0, 500.0);
 		
 		return Eigen::Vector3f(
 			(float)distrib(gen),
@@ -79,26 +79,24 @@ namespace ZL {
 
 	void LocalClient::initializeNPCs() {
 		npcs.clear();
-
 		for (int i = 0; i < 3; ++i) {
 			LocalNPC npc;
 			npc.id = 100 + i;
-			npc.speed = 20.0f + (i * 5.0f);
 			npc.currentState.id = npc.id;
 			npc.currentState.position = generateRandomPosition();
 			npc.currentState.rotation = Eigen::Matrix3f::Identity();
-			npc.currentState.velocity = npc.speed;
+			npc.currentState.velocity = 0.0f;
+			npc.currentState.selectedVelocity = 0;
+			npc.currentState.discreteMag = 0.0f;
+			npc.currentState.discreteAngle = -1;
+			npc.currentState.currentAngularVelocity = Eigen::Vector3f::Zero();
+
 			npc.targetPosition = generateRandomPosition();
 			npc.lastStateUpdateMs = std::chrono::duration_cast<std::chrono::milliseconds>(
 				std::chrono::system_clock::now().time_since_epoch()).count();
 
 			npc.stateHistory.add_state(npc.currentState);
 			npcs.push_back(npc);
-
-			std::cout << "LocalClient: Created NPC with id=" << npc.id 
-				<< " at pos (" << npc.currentState.position.x() << ", " 
-				<< npc.currentState.position.y() << ", " 
-				<< npc.currentState.position.z() << ")" << std::endl;
 		}
 	}
 
@@ -108,37 +106,76 @@ namespace ZL {
 
 		for (auto& npc : npcs) {
 			uint64_t deltaMs = now_ms - npc.lastStateUpdateMs;
-			float dt = deltaMs / 1000.0f;
+			if (deltaMs == 0) {
+				npc.lastStateUpdateMs = now_ms;
+				continue;
+			}
 			npc.lastStateUpdateMs = now_ms;
 
-			Eigen::Vector3f direction = npc.targetPosition - npc.currentState.position;
-			float distance = direction.norm();
+			Eigen::Vector3f toTarget = npc.targetPosition - npc.currentState.position;
+			float distance = toTarget.norm();
 
-			if (distance < 5.0f) {
+			const float ARRIVAL_THRESHOLD = 100.0f;
+
+			if (distance < ARRIVAL_THRESHOLD) {
 				npc.targetPosition = generateRandomPosition();
-				direction = npc.targetPosition - npc.currentState.position;
-				distance = direction.norm();
+				toTarget = npc.targetPosition - npc.currentState.position;
+				distance = toTarget.norm();
 			}
 
-			if (distance > 0.001f) {
-				direction.normalize();
-				npc.currentState.position += direction * npc.speed * dt;
-				npc.currentState.velocity = npc.speed;
+			Eigen::Vector3f forwardWorld = -npc.currentState.rotation.col(2);
+			forwardWorld.normalize();
 
-				Eigen::Vector3f localForward(0.0f, 0.0f, -1.0f);
-				Eigen::Vector3f worldForward = direction;
+			Eigen::Vector3f desiredDir = (distance > 0.001f) ? toTarget.normalized() : Eigen::Vector3f::UnitZ();
+			float dot = forwardWorld.dot(desiredDir);
+			float angleErrorRad = std::acos(std::clamp(dot, -1.0f, 1.0f));
 
-				Eigen::Vector3f cross = localForward.cross(worldForward);
-				float dot = localForward.dot(worldForward);
+			const float ALIGN_TOLERANCE = 0.15f;
 
-				if (cross.norm() > 0.001f) {
-					float angle = std::atan2(cross.norm(), dot);
-					cross.normalize();
-					Eigen::AngleAxisf aa(angle * 0.05f, cross);
-					npc.currentState.rotation = npc.currentState.rotation * aa.toRotationMatrix();
+			const float HYSTERESIS_FACTOR = 1.35f;
+			const float SOFT_THRUST_ANGLE = ALIGN_TOLERANCE * HYSTERESIS_FACTOR;
+
+			if (angleErrorRad < ALIGN_TOLERANCE) {
+				npc.currentState.selectedVelocity = 1;
+				npc.currentState.discreteMag = 0.0f;
+			}
+			else if (angleErrorRad < SOFT_THRUST_ANGLE) {
+				npc.currentState.selectedVelocity = 1;
+				npc.currentState.discreteMag = std::min(0.50f, (angleErrorRad - ALIGN_TOLERANCE) * 10.0f);
+			}
+			else {
+				npc.currentState.selectedVelocity = 0;
+
+				Eigen::Vector3f localDesired = npc.currentState.rotation.transpose() * desiredDir;
+				float dx = localDesired.x();
+				float dy = localDesired.y();
+				float dz = localDesired.z();
+
+				float turnX = dy;
+				float turnY = -dx;
+				float turnLen = std::sqrt(turnX * turnX + turnY * turnY);
+
+				if (turnLen > 0.0001f) {
+					turnX /= turnLen;
+					turnY /= turnLen;
+
+					float rad = std::atan2(turnX, turnY);
+					int angleDeg = static_cast<int>(std::round(rad * 180.0f / M_PI));
+					if (angleDeg < 0) angleDeg += 360;
+
+					npc.currentState.discreteAngle = angleDeg;
+					npc.currentState.discreteMag = std::min(1.0f, angleErrorRad * 2.2f);
+				}
+				else if (angleErrorRad > 0.1f) {
+					npc.currentState.discreteAngle = 0;
+					npc.currentState.discreteMag = 1.0f;
+				}
+				else {
+					npc.currentState.discreteMag = 0.0f;
 				}
 			}
 
+			npc.currentState.simulate_physics(static_cast<size_t>(deltaMs));
 			npc.currentState.lastUpdateServerTime = std::chrono::system_clock::time_point(
 				std::chrono::milliseconds(now_ms));
 			npc.stateHistory.add_state(npc.currentState);

src/network/LocalClient.h

@@ -29,7 +29,6 @@ namespace ZL {
         ClientState currentState;
         ClientStateInterval stateHistory;
         Eigen::Vector3f targetPosition;
-        float speed = 30.0f;
         uint64_t lastStateUpdateMs = 0;
     };