Clean up

proj-android/app/jni/src/CMakeLists.txt

@@ -52,6 +52,7 @@ add_library(main SHARED
         ../../../../src/planet/PlanetObject.cpp
         ../../../../src/planet/StoneObject.cpp
         ../../../../src/render/FrameBuffer.cpp
+        ../../../../src/render/ShadowMap.cpp
         ../../../../src/render/Renderer.cpp
         ../../../../src/render/ShaderManager.cpp
         ../../../../src/render/TextureManager.cpp

proj-web/CMakeLists.txt

@@ -175,6 +175,7 @@ set(EMSCRIPTEN_LINK_FLAGS
     "--preload-file ${CMAKE_CURRENT_SOURCE_DIR}/../resources/loading.png@resources/loading.png"
     "--preload-file ${CMAKE_CURRENT_SOURCE_DIR}/../resources/shaders@resources/shaders"
     "--preload-file ${CMAKE_CURRENT_SOURCE_DIR}/../resources/start.lua@resources/start.lua"
+    "--preload-file ${CMAKE_CURRENT_SOURCE_DIR}/../resources/start2.lua@resources/start2.lua"
 	"--preload-file ${CMAKE_CURRENT_SOURCE_DIR}/../audio@audio"
 )
 

proj-windows/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.16)
 
-project(space-game001 LANGUAGES C CXX)
+project(witcher001 LANGUAGES C CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -12,9 +12,9 @@ option(FULLSCREEN "Launch the game in fullscreen mode" OFF)
 include(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/ThirdParty.cmake)
 
 # ===========================================
-# Основной проект space-game001
+# Основной проект witcher001
 # ===========================================
-add_executable(space-game001
+add_executable(witcher001
     ../src/main.cpp
     ../src/Game.cpp
     ../src/Game.h
@@ -32,8 +32,6 @@ add_executable(space-game001
     ../src/TextModel.h
     ../src/AudioPlayerAsync.cpp
     ../src/AudioPlayerAsync.h
-    ../src/BoneAnimatedModel.cpp
-    ../src/BoneAnimatedModel.h
     ../src/BoneAnimatedModelNew.cpp
     ../src/BoneAnimatedModelNew.h
     ../src/render/OpenGlExtensions.cpp
@@ -42,8 +40,6 @@ add_executable(space-game001
     ../src/utils/Utils.h
     ../src/SparkEmitter.cpp
     ../src/SparkEmitter.h
-	../src/utils/Perlin.cpp
-	../src/utils/Perlin.h
 	../src/utils/TaskManager.cpp
 	../src/utils/TaskManager.h
 	../src/render/FrameBuffer.cpp
@@ -85,21 +81,21 @@ add_executable(space-game001
 )
 
 # Установка проекта по умолчанию для Visual Studio
-set_property(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT space-game001)
+set_property(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT witcher001)
 
 # include-пути проекта
-target_include_directories(space-game001 PRIVATE
+target_include_directories(witcher001 PRIVATE
     "${CMAKE_CURRENT_SOURCE_DIR}/../src"
 )
 
-set_target_properties(space-game001 PROPERTIES
-    OUTPUT_NAME "space-game001"
+set_target_properties(witcher001 PROPERTIES
+    OUTPUT_NAME "witcher001"
 )
 
 # Определения препроцессора:
 # PNG_ENABLED – включает код PNG в TextureManager
 # SDL_MAIN_HANDLED – отключает переопределение main -> SDL_main
-target_compile_definitions(space-game001 PRIVATE
+target_compile_definitions(witcher001 PRIVATE
     WIN32_LEAN_AND_MEAN
     PNG_ENABLED
     SDL_MAIN_HANDLED
@@ -108,14 +104,14 @@ target_compile_definitions(space-game001 PRIVATE
 )
 
 if(FULLSCREEN)
-    target_compile_definitions(space-game001 PRIVATE FULLSCREEN)
+    target_compile_definitions(witcher001 PRIVATE FULLSCREEN)
 endif()
 
 # Линкуем с SDL2main, если он вообще установлен
-target_link_libraries(space-game001 PRIVATE SDL2main_external_lib)
+target_link_libraries(witcher001 PRIVATE SDL2main_external_lib)
 
 # Линкуем сторонние библиотеки
-target_link_libraries(space-game001 PRIVATE
+target_link_libraries(witcher001 PRIVATE
     SDL2_external_lib
     libpng_external_lib
     zlib_external_lib
@@ -130,7 +126,7 @@ target_link_libraries(space-game001 PRIVATE
 
 # Линкуем OpenGL (Windows)
 if(WIN32)
-    target_link_libraries(space-game001 PRIVATE opengl32)
+    target_link_libraries(witcher001 PRIVATE opengl32)
 endif()
 
 # ===========================================
@@ -140,19 +136,19 @@ if (WIN32)
 
     # SDL2: в Debug - SDL2d.dll, в Release - SDL2.dll
     set(SDL2_DLL_SRC "$<IF:$<CONFIG:Debug>,${SDL2_INSTALL_DIR}/bin/SDL2d.dll,${SDL2_INSTALL_DIR}/bin/SDL2.dll>")
-    set(SDL2_DLL_DST "$<IF:$<CONFIG:Debug>,$<TARGET_FILE_DIR:space-game001>/SDL2d.dll,$<TARGET_FILE_DIR:space-game001>/SDL2.dll>")
+    set(SDL2_DLL_DST "$<IF:$<CONFIG:Debug>,$<TARGET_FILE_DIR:witcher001>/SDL2d.dll,$<TARGET_FILE_DIR:witcher001>/SDL2.dll>")
     
 
     set(LIBZIP_DLL_SRC "$<IF:$<CONFIG:Debug>,${LIBZIP_BASE_DIR}-Debug/bin/zip.dll,${LIBZIP_BASE_DIR}-Release/bin/zip.dll>")
 	
 	set(ZLIB_DLL_SRC "$<IF:$<CONFIG:Debug>,${ZLIB_INSTALL_DIR}/bin/zd.dll,${ZLIB_INSTALL_DIR}/bin/z.dll>")
-    set(ZLIB_DLL_DST "$<IF:$<CONFIG:Debug>,$<TARGET_FILE_DIR:space-game001>/zd.dll,$<TARGET_FILE_DIR:space-game001>/z.dll>")
+    set(ZLIB_DLL_DST "$<IF:$<CONFIG:Debug>,$<TARGET_FILE_DIR:witcher001>/zd.dll,$<TARGET_FILE_DIR:witcher001>/z.dll>")
 	
 	set(SDL2TTF_DLL_SRC "$<IF:$<CONFIG:Debug>,${SDL2TTF_BASE_DIR}-Debug/bin/SDL2_ttfd.dll,${SDL2TTF_BASE_DIR}-Release/bin/SDL2_ttf.dll>")
 
     set(SDL2MIXER_DLL_SRC "$<IF:$<CONFIG:Debug>,${SDL2MIXER_BASE_DIR}-Debug/bin/SDL2_mixerd.dll,${SDL2MIXER_BASE_DIR}-Release/bin/SDL2_mixer.dll>")
 
-    add_custom_command(TARGET space-game001 POST_BUILD
+    add_custom_command(TARGET witcher001 POST_BUILD
         COMMAND ${CMAKE_COMMAND} -E echo "Copying DLLs to output folder..."
         
         # Копируем SDL2 (целевое имя всегда SDL2.dll)
@@ -163,7 +159,7 @@ if (WIN32)
         # Копируем LIBZIP (целевое имя всегда zip.dll)
         COMMAND ${CMAKE_COMMAND} -E copy_if_different
             "${LIBZIP_DLL_SRC}"
-            "$<TARGET_FILE_DIR:space-game001>/zip.dll"
+            "$<TARGET_FILE_DIR:witcher001>/zip.dll"
 			
 		COMMAND ${CMAKE_COMMAND} -E copy_if_different
             "${ZLIB_DLL_SRC}"
@@ -171,11 +167,11 @@ if (WIN32)
 			
 		COMMAND ${CMAKE_COMMAND} -E copy_if_different
 			"${SDL2TTF_DLL_SRC}"
-			"$<TARGET_FILE_DIR:space-game001>"
+			"$<TARGET_FILE_DIR:witcher001>"
 
         COMMAND ${CMAKE_COMMAND} -E copy_if_different
             "${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/SDL_mixer-release-2.8.0/install-$<CONFIG>/bin/SDL2_mixer$<$<CONFIG:Debug>:d>.dll"
-            "$<TARGET_FILE_DIR:space-game001>/SDL2_mixer$<$<CONFIG:Debug>:d>.dll"
+            "$<TARGET_FILE_DIR:witcher001>/SDL2_mixer$<$<CONFIG:Debug>:d>.dll"
     )
 endif()
 
@@ -191,12 +187,12 @@ set(RUNTIME_RESOURCE_DIRS
 
 # Копируем ресурсы и шейдеры в папку exe и в корень build/
 foreach(resdir IN LISTS RUNTIME_RESOURCE_DIRS)
-    add_custom_command(TARGET space-game001 POST_BUILD
+    add_custom_command(TARGET witcher001 POST_BUILD
         COMMAND ${CMAKE_COMMAND} -E echo "Copying ${resdir} to runtime folders..."
         # 1) туда, где лежит exe (build/Debug, build/Release и т.п.)
         COMMAND ${CMAKE_COMMAND} -E copy_directory
             "${CMAKE_SOURCE_DIR}/../${resdir}"
-            "$<TARGET_FILE_DIR:space-game001>/${resdir}"
+            "$<TARGET_FILE_DIR:witcher001>/${resdir}"
         # 2) в корень build, если захочешь запускать из этой папки
         COMMAND ${CMAKE_COMMAND} -E copy_directory
             "${CMAKE_SOURCE_DIR}/../${resdir}"

resources/config2/navigation.json

@@ -3,175 +3,472 @@
   "agentRadius": 0.45,
   "floorY": 0.0,
   "objectPadding": 0.25,
+  "boundaryPadding": 0.35,
   "areas": [
     {
       "name": "main_corridor",
       "available": true,
       "polygon": [
-        [-2.2, 0.8],
-        [2.2, 0.8],
-        [2.2, -40.8],
-        [-2.2, -40.8]
+        [
+          -2.2,
+          0.8
+        ],
+        [
+          2.2,
+          0.8
+        ],
+        [
+          2.2,
+          -40.8
+        ],
+        [
+          -2.2,
+          -40.8
+        ]
       ]
     },
     {
       "name": "left_door_05",
       "available": true,
       "polygon": [
-        [-3.4, -4.2],
-        [-2.0, -4.2],
-        [-2.0, -5.8],
-        [-3.4, -5.8]
+        [
+          -3.4,
+          -4.2
+        ],
+        [
+          -2.0,
+          -4.2
+        ],
+        [
+          -2.0,
+          -5.8
+        ],
+        [
+          -3.4,
+          -5.8
+        ]
       ]
     },
     {
       "name": "right_door_05",
       "available": true,
       "polygon": [
-        [2.0, -4.2],
-        [3.4, -4.2],
-        [3.4, -5.8],
-        [2.0, -5.8]
+        [
+          2.0,
+          -4.2
+        ],
+        [
+          3.4,
+          -4.2
+        ],
+        [
+          3.4,
+          -5.8
+        ],
+        [
+          2.0,
+          -5.8
+        ]
       ]
     },
     {
       "name": "left_room_05",
       "available": true,
       "polygon": [
-        [-8.8, -1.0],
-        [-3.0, -1.0],
-        [-3.0, -9.0],
-        [-8.8, -9.0]
+        [
+          -8.8,
+          -1.0
+        ],
+        [
+          -3.0,
+          -1.0
+        ],
+        [
+          -3.0,
+          -9.0
+        ],
+        [
+          -8.8,
+          -9.0
+        ]
       ]
     },
     {
       "name": "right_room_05",
       "available": true,
       "polygon": [
-        [3.0, -1.0],
-        [8.8, -1.0],
-        [8.8, -9.0],
-        [3.0, -9.0]
+        [
+          3.0,
+          -1.0
+        ],
+        [
+          8.8,
+          -1.0
+        ],
+        [
+          8.8,
+          -9.0
+        ],
+        [
+          3.0,
+          -9.0
+        ]
       ]
     },
     {
       "name": "left_door_15",
       "available": true,
       "polygon": [
-        [-3.4, -14.2],
-        [-2.0, -14.2],
-        [-2.0, -15.8],
-        [-3.4, -15.8]
+        [
+          -3.4,
+          -14.2
+        ],
+        [
+          -2.0,
+          -14.2
+        ],
+        [
+          -2.0,
+          -15.8
+        ],
+        [
+          -3.4,
+          -15.8
+        ]
       ]
     },
     {
       "name": "right_door_15",
       "available": true,
       "polygon": [
-        [2.0, -14.2],
-        [3.4, -14.2],
-        [3.4, -15.8],
-        [2.0, -15.8]
+        [
+          2.0,
+          -14.2
+        ],
+        [
+          3.4,
+          -14.2
+        ],
+        [
+          3.4,
+          -15.8
+        ],
+        [
+          2.0,
+          -15.8
+        ]
       ]
     },
     {
       "name": "left_room_15",
       "available": true,
       "polygon": [
-        [-8.8, -11.0],
-        [-3.0, -11.0],
-        [-3.0, -19.0],
-        [-8.8, -19.0]
+        [
+          -8.8,
+          -11.0
+        ],
+        [
+          -3.0,
+          -11.0
+        ],
+        [
+          -3.0,
+          -19.0
+        ],
+        [
+          -8.8,
+          -19.0
+        ]
       ]
     },
     {
       "name": "right_room_15",
       "available": true,
       "polygon": [
-        [3.0, -11.0],
-        [8.8, -11.0],
-        [8.8, -19.0],
-        [3.0, -19.0]
+        [
+          3.0,
+          -11.0
+        ],
+        [
+          8.8,
+          -11.0
+        ],
+        [
+          8.8,
+          -19.0
+        ],
+        [
+          3.0,
+          -19.0
+        ]
       ]
     },
     {
       "name": "left_door_25",
       "available": true,
       "polygon": [
-        [-3.4, -24.2],
-        [-2.0, -24.2],
-        [-2.0, -25.8],
-        [-3.4, -25.8]
+        [
+          -3.4,
+          -24.2
+        ],
+        [
+          -2.0,
+          -24.2
+        ],
+        [
+          -2.0,
+          -25.8
+        ],
+        [
+          -3.4,
+          -25.8
+        ]
       ]
     },
     {
       "name": "right_door_25",
       "available": true,
       "polygon": [
-        [2.0, -24.2],
-        [3.4, -24.2],
-        [3.4, -25.8],
-        [2.0, -25.8]
+        [
+          2.0,
+          -24.2
+        ],
+        [
+          3.4,
+          -24.2
+        ],
+        [
+          3.4,
+          -25.8
+        ],
+        [
+          2.0,
+          -25.8
+        ]
       ]
     },
     {
       "name": "left_room_25",
       "available": true,
       "polygon": [
-        [-8.8, -21.0],
-        [-3.0, -21.0],
-        [-3.0, -29.0],
-        [-8.8, -29.0]
+        [
+          -8.8,
+          -21.0
+        ],
+        [
+          -3.0,
+          -21.0
+        ],
+        [
+          -3.0,
+          -29.0
+        ],
+        [
+          -8.8,
+          -29.0
+        ]
       ]
     },
     {
       "name": "right_room_25",
       "available": true,
       "polygon": [
-        [3.0, -21.0],
-        [8.8, -21.0],
-        [8.8, -29.0],
-        [3.0, -29.0]
+        [
+          3.0,
+          -21.0
+        ],
+        [
+          8.8,
+          -21.0
+        ],
+        [
+          8.8,
+          -29.0
+        ],
+        [
+          3.0,
+          -29.0
+        ]
       ]
     },
     {
       "name": "left_door_35",
       "available": true,
       "polygon": [
-        [-3.4, -34.2],
-        [-2.0, -34.2],
-        [-2.0, -35.8],
-        [-3.4, -35.8]
+        [
+          -3.4,
+          -34.2
+        ],
+        [
+          -2.0,
+          -34.2
+        ],
+        [
+          -2.0,
+          -35.8
+        ],
+        [
+          -3.4,
+          -35.8
+        ]
       ]
     },
     {
       "name": "right_door_35",
       "available": true,
       "polygon": [
-        [2.0, -34.2],
-        [3.4, -34.2],
-        [3.4, -35.8],
-        [2.0, -35.8]
+        [
+          2.0,
+          -34.2
+        ],
+        [
+          3.4,
+          -34.2
+        ],
+        [
+          3.4,
+          -35.8
+        ],
+        [
+          2.0,
+          -35.8
+        ]
       ]
     },
     {
       "name": "left_room_35",
       "available": true,
       "polygon": [
-        [-8.8, -31.0],
-        [-3.0, -31.0],
-        [-3.0, -39.0],
-        [-8.8, -39.0]
+        [
+          -8.8,
+          -31.0
+        ],
+        [
+          -3.0,
+          -31.0
+        ],
+        [
+          -3.0,
+          -39.0
+        ],
+        [
+          -8.8,
+          -39.0
+        ]
       ]
     },
     {
       "name": "right_room_35",
       "available": true,
       "polygon": [
-        [3.0, -31.0],
-        [8.8, -31.0],
-        [8.8, -39.0],
-        [3.0, -39.0]
+        [
+          3.0,
+          -31.0
+        ],
+        [
+          8.8,
+          -31.0
+        ],
+        [
+          8.8,
+          -39.0
+        ],
+        [
+          3.0,
+          -39.0
+        ]
+      ]
+    }
+  ],
+  "obstacles": [
+    {
+      "name": "firebox",
+      "polygon": [
+        [
+          -2.49468,
+          -32.87888
+        ],
+        [
+          -2.05776,
+          -32.87888
+        ],
+        [
+          -2.05776,
+          -31.51618
+        ],
+        [
+          -2.49468,
+          -31.51618
+        ]
+      ]
+    },
+    {
+      "name": "bench",
+      "polygon": [
+        [
+          -2.54485,
+          -9.31999
+        ],
+        [
+          -2.51786,
+          -9.3557
+        ],
+        [
+          -2.48369,
+          -9.37177
+        ],
+        [
+          -2.45574,
+          -9.38357
+        ],
+        [
+          -2.17907,
+          -9.39566
+        ],
+        [
+          -1.80829,
+          -9.40749
+        ],
+        [
+          -1.7521,
+          -9.36413
+        ],
+        [
+          -1.66462,
+          -9.28728
+        ],
+        [
+          -1.65801,
+          -9.14512
+        ],
+        [
+          -1.65114,
+          -7.22169
+        ],
+        [
+          -1.65535,
+          -6.51944
+        ],
+        [
+          -1.72626,
+          -6.42306
+        ],
+        [
+          -1.76837,
+          -6.39498
+        ],
+        [
+          -2.47166,
+          -6.39746
+        ],
+        [
+          -2.5309,
+          -6.44135
+        ],
+        [
+          -2.53691,
+          -7.18464
+        ]
       ]
     }
   ]

resources/config2/navigation2.json

@@ -8,10 +8,668 @@
       "name": "main_corridor",
       "available": true,
       "polygon": [
-        [-200, 200],
-        [200, 200],
-        [200, -200],
-        [-200, -200]
+        [
+          -200,
+          200
+        ],
+        [
+          200,
+          200
+        ],
+        [
+          200,
+          -200
+        ],
+        [
+          -200,
+          -200
+        ]
+      ]
+    }
+  ],
+  "obstacles": [
+    {
+      "name": "door",
+      "polygon": [
+        [
+          -5.2,
+          7.08001
+        ],
+        [
+          -5.19904,
+          7.07025
+        ],
+        [
+          -5.19619,
+          7.06087
+        ],
+        [
+          -5.19157,
+          7.05223
+        ],
+        [
+          -5.18536,
+          7.04465
+        ],
+        [
+          -5.17778,
+          7.03843
+        ],
+        [
+          -5.16913,
+          7.03381
+        ],
+        [
+          -5.15975,
+          7.03097
+        ],
+        [
+          -5.15,
+          7.03001
+        ],
+        [
+          -3.75,
+          7.13001
+        ],
+        [
+          -3.625,
+          7.43001
+        ],
+        [
+          -3.625,
+          8.83001
+        ],
+        [
+          -3.75,
+          9.13001
+        ],
+        [
+          -5.15,
+          9.23001
+        ],
+        [
+          -5.15975,
+          9.22905
+        ],
+        [
+          -5.16913,
+          9.2262
+        ],
+        [
+          -5.17778,
+          9.22158
+        ],
+        [
+          -5.18536,
+          9.21536
+        ],
+        [
+          -5.19157,
+          9.20778
+        ],
+        [
+          -5.19619,
+          9.19914
+        ],
+        [
+          -5.19904,
+          9.18976
+        ],
+        [
+          -5.2,
+          9.18001
+        ]
+      ]
+    },
+    {
+      "name": "inai",
+      "polygon": [
+        [
+          -3.75,
+          -15.0
+        ],
+        [
+          3.75,
+          -15.0
+        ],
+        [
+          3.75,
+          15.0
+        ],
+        [
+          -3.75,
+          15.0
+        ]
+      ]
+    },
+    {
+      "name": "tree001",
+      "polygon": [
+        [
+          10.45,
+          12.0
+        ],
+        [
+          10.38971,
+          12.225
+        ],
+        [
+          10.225,
+          12.38971
+        ],
+        [
+          10.0,
+          12.45
+        ],
+        [
+          9.775,
+          12.38971
+        ],
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     }
   ]

resources/w/exterior/Segmented_Plane.txt

@@ -1,37 +0,0 @@
-===Vertices (Split by UV/Normal): 16
-V 0: Pos(-33.333332, -100.0, 0.0) Norm(0.0, 0.0, 1.0) UV(0.333333, 0.0)
-V 1: Pos(-100.0, -33.333332, 0.0) Norm(0.0, 0.0, 1.0) UV(0.0, 0.333333)
-V 2: Pos(-100.0, -100.0, 0.0) Norm(0.0, 0.0, 1.0) UV(0.0, 0.0)
-V 3: Pos(33.333336, -100.0, 0.0) Norm(0.0, 0.0, 1.0) UV(0.666667, 0.0)
-V 4: Pos(-33.333332, -33.333332, 0.0) Norm(0.0, 0.0, 1.0) UV(0.333333, 0.333333)
-V 5: Pos(100.0, -100.0, 0.0) Norm(0.0, 0.0, 1.0) UV(1.0, 0.0)
-V 6: Pos(33.333336, -33.333332, 0.0) Norm(0.0, 0.0, 1.0) UV(0.666667, 0.333333)
-V 7: Pos(-100.0, 33.333336, 0.0) Norm(0.0, 0.0, 1.0) UV(0.0, 0.666667)
-V 8: Pos(-33.333332, 33.333336, 0.0) Norm(0.0, 0.0, 1.0) UV(0.333333, 0.666667)
-V 9: Pos(100.0, -33.333332, 0.0) Norm(0.0, 0.0, 1.0) UV(1.0, 0.333333)
-V 10: Pos(33.333336, 33.333336, 0.0) Norm(0.0, 0.0, 1.0) UV(0.666667, 0.666667)
-V 11: Pos(-100.0, 100.0, 0.0) Norm(0.0, 0.0, 1.0) UV(0.0, 1.0)
-V 12: Pos(-33.333332, 100.0, 0.0) Norm(0.0, 0.0, 1.0) UV(0.333333, 1.0)
-V 13: Pos(100.0, 33.333336, 0.0) Norm(0.0, 0.0, 1.0) UV(1.0, 0.666667)
-V 14: Pos(33.333336, 100.0, 0.0) Norm(0.0, 0.0, 1.0) UV(0.666667, 1.0)
-V 15: Pos(100.0, 100.0, 0.0) Norm(0.0, 0.0, 1.0) UV(1.0, 1.0)
-
-===Triangles (Indices): 18
-Tri: 0 1 2
-Tri: 3 4 0
-Tri: 5 6 3
-Tri: 4 7 1
-Tri: 6 8 4
-Tri: 9 10 6
-Tri: 8 11 7
-Tri: 10 12 8
-Tri: 13 14 10
-Tri: 0 4 1
-Tri: 3 6 4
-Tri: 5 9 6
-Tri: 4 8 7
-Tri: 6 10 8
-Tri: 9 13 10
-Tri: 8 12 11
-Tri: 10 14 12
-Tri: 13 15 14

resources/w/gg/knife001.txt

@@ -1,64 +0,0 @@
-===Vertices (Split by UV/Normal): 41
-V 0: Pos(0.02, 0.15, 0.0) Norm(0.577338, 0.577356, -0.577357) UV(0.77503, 0.750033)
-V 1: Pos(-0.02, -0.15, 0.0) Norm(-0.577338, -0.577356, -0.577357) UV(0.808365, 0.500022)
-V 2: Pos(-0.02, 0.15, 0.0) Norm(-0.577347, 0.577357, -0.577347) UV(0.808365, 0.750033)
-V 3: Pos(0.02, -0.15, 0.6) Norm(0.577338, -0.577356, 0.577357) UV(0.866701, 0.496276)
-V 4: Pos(-0.02, 0.15, 0.6) Norm(-0.577338, 0.577356, 0.577357) UV(0.833366, 0.746287)
-V 5: Pos(-0.02, -0.15, 0.6) Norm(-0.577347, -0.577357, 0.577347) UV(0.833366, 0.496276)
-V 6: Pos(0.02, -0.15, 0.0) Norm(0.577347, -0.577357, -0.577347) UV(0.833366, 0.496276)
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-V 17: Pos(-0.02, 0.15, 0.0) Norm(-0.577347, 0.577357, -0.577347) UV(0.750033, 1.0)
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-
-===Triangles (Indices): 20
-Tri: 0 1 2
-Tri: 3 4 5
-Tri: 6 7 8
-Tri: 9 10 11
-Tri: 12 13 14
-Tri: 15 16 17
-Tri: 18 19 20
-Tri: 21 22 23
-Tri: 24 25 26
-Tri: 27 28 29
-Tri: 30 31 32
-Tri: 0 33 1
-Tri: 3 34 4
-Tri: 6 35 7
-Tri: 9 36 10
-Tri: 12 37 13
-Tri: 15 38 16
-Tri: 18 39 19
-Tri: 21 40 22
-Tri: 24 40 25

src/BoneAnimatedModel.h

@@ -1,103 +0,0 @@
-#pragma once
-#include "render/Renderer.h"
-#include <unordered_map>
-
-
-namespace ZL
-{
-	constexpr int MAX_BONE_COUNT = 6;
-	constexpr int MAX_GPU_BONES = 64;
-	struct Bone
-	{
-		Vector3f boneStartWorld;
-		float boneLength;
-		Matrix4f boneMatrixWorld;
-
-		int parent;
-		std::vector<int> children;
-	};
-
-	struct BoneWeight
-	{
-		int boneIndex = -1;
-		float weight = 0;
-	};
-
-	struct AnimationKeyFrame
-	{
-		int frame;
-		std::vector<Bone> bones;
-	};
-
-	struct Animation
-	{
-		std::vector<AnimationKeyFrame> keyFrames;
-	};
-
-	struct GpuBoneData {
-		std::vector<Vector4f> boneIndices0;  // bone indices 0-3 per vertex (as float)
-		std::vector<Vector2f> boneIndices1;  // bone indices 4-5 per vertex
-		std::vector<Vector4f> boneWeights0;  // bone weights 0-3 per vertex
-		std::vector<Vector2f> boneWeights1;  // bone weights 4-5 per vertex
-		bool prepared = false;
-		void PrepareGpuSkinningData(const std::vector<std::array<BoneWeight, MAX_BONE_COUNT>>& verticesBoneWeight);
-	};
-
-	struct BoneSystem
-	{
-		VertexDataStruct mesh;
-		VertexDataStruct startMesh;
-		std::vector<std::array<BoneWeight, MAX_BONE_COUNT>> verticesBoneWeight;
-
-		Matrix4f armatureMatrix;
-
-		std::vector<Bone> startBones;
-		std::vector<Bone> currentBones;
-		std::vector<std::string> boneNames;
-
-		std::vector<Animation> animations;
-		int startingFrame = 0;
-
-		void LoadFromFile(const std::string& fileName, const std::string& ZIPFileName = "");
-		void LoadFromBinaryFile(const std::string& fileName, const std::string& ZIPFileName = "");
-
-		void Interpolate(int frame);
-
-		int findBoneIndex(const std::string& name) const;
-
-		// GPU skinning: compute skinning matrices without modifying the mesh
-		//void ComputeSkinningMatrices(int frame, std::vector<Matrix4f>& outMatrices) const;
-	};
-
-
-	struct GpuSkinningShaderData {
-		GpuBoneData gpuBoneData;
-
-		// GPU skinning data (lazily initialized)
-		VertexRenderStruct bindPoseMutable;
-		std::shared_ptr<VBOHolder> boneIndices0VBO;
-		std::shared_ptr<VBOHolder> boneIndices1VBO;
-		std::shared_ptr<VBOHolder> boneWeights0VBO;
-		std::shared_ptr<VBOHolder> boneWeights1VBO;
-		bool gpuSkinningPrepared = false;
-		std::vector<Eigen::Matrix4f> skinningMatrices;
-
-		void prepareGpuSkinningVBOs(BoneSystem& model);
-		void RenderVBO(Renderer& renderer);
-		void ComputeSkinningMatrices(const std::vector<Bone>& startBones, const std::vector<AnimationKeyFrame>& keyFrames, int frame);
-	};
-
-	struct BoneAnimationData {
-		BoneSystem model;
-		float currentFrame = 0.f;
-		int lastFrame = -1;
-		int totalFrames = 1;
-
-		GpuSkinningShaderData gpuSkinningShaderData;
-	};
-
-
-
-
-
-};

src/BoneAnimatedModelNew.cpp

@@ -13,7 +13,21 @@ namespace ZL
 	using std::max;
 #endif
 
-	extern int getIndexByValue(const std::string& name, const std::vector<std::string>& words);
+	int getIndexByValue(const std::string& name, const std::vector<std::string>& words)
+	{
+		for (int i = 0; i < words.size(); i++)
+		{
+			if (words[i] == name)
+			{
+				return i;
+			}
+		}
+
+		std::cout << "Bone name not found: " << name << std::endl;
+		throw std::runtime_error("Bone name not found: " + name);
+
+		return -1;
+	}
 
 	static std::string trimRight(const std::string& s)
 	{
@@ -23,6 +37,42 @@ namespace ZL
 		return s.substr(0, end);
 	}
 
+
+	void GpuBoneData::PrepareGpuSkinningData(const std::vector<std::array<BoneWeight, MAX_BONE_COUNT>>& verticesBoneWeight)
+	{
+		size_t vertexCount = verticesBoneWeight.size();
+		boneIndices0.resize(vertexCount);
+		boneIndices1.resize(vertexCount);
+		boneWeights0.resize(vertexCount);
+		boneWeights1.resize(vertexCount);
+
+		for (size_t i = 0; i < vertexCount; i++)
+		{
+			boneIndices0[i] = Vector4f(
+				static_cast<float>(max(0, verticesBoneWeight[i][0].boneIndex)),
+				static_cast<float>(max(0, verticesBoneWeight[i][1].boneIndex)),
+				static_cast<float>(max(0, verticesBoneWeight[i][2].boneIndex)),
+				static_cast<float>(max(0, verticesBoneWeight[i][3].boneIndex))
+			);
+			boneIndices1[i] = Vector2f(
+				static_cast<float>(max(0, verticesBoneWeight[i][4].boneIndex)),
+				static_cast<float>(max(0, verticesBoneWeight[i][5].boneIndex))
+			);
+			boneWeights0[i] = Vector4f(
+				verticesBoneWeight[i][0].weight,
+				verticesBoneWeight[i][1].weight,
+				verticesBoneWeight[i][2].weight,
+				verticesBoneWeight[i][3].weight
+			);
+			boneWeights1[i] = Vector2f(
+				verticesBoneWeight[i][4].weight,
+				verticesBoneWeight[i][5].weight
+			);
+		}
+
+		prepared = true;
+	}
+
 	void BoneSystemNew::LoadFromFile(const std::string& fileName, const std::string& ZIPFileName)
 	{
 		std::ifstream filestream;

src/BoneAnimatedModelNew.h

@@ -1,9 +1,48 @@
 #pragma once
-#include "BoneAnimatedModel.h"
+#include "render/Renderer.h"
 #include <unordered_map>
 
+
 namespace ZL
 {
+	constexpr int MAX_BONE_COUNT = 6;
+	constexpr int MAX_GPU_BONES = 64;
+	struct Bone
+	{
+		Eigen::Vector3f boneStartWorld;
+		float boneLength;
+		Eigen::Matrix4f boneMatrixWorld;
+
+		int parent;
+		std::vector<int> children;
+	};
+
+	struct BoneWeight
+	{
+		int boneIndex = -1;
+		float weight = 0;
+	};
+
+	struct AnimationKeyFrame
+	{
+		int frame;
+		std::vector<Bone> bones;
+	};
+
+	struct Animation
+	{
+		std::vector<AnimationKeyFrame> keyFrames;
+	};
+
+	struct GpuBoneData {
+		std::vector<Vector4f> boneIndices0;  // bone indices 0-3 per vertex (as float)
+		std::vector<Vector2f> boneIndices1;  // bone indices 4-5 per vertex
+		std::vector<Vector4f> boneWeights0;  // bone weights 0-3 per vertex
+		std::vector<Vector2f> boneWeights1;  // bone weights 4-5 per vertex
+		bool prepared = false;
+		void PrepareGpuSkinningData(const std::vector<std::array<BoneWeight, MAX_BONE_COUNT>>& verticesBoneWeight);
+	};
+
 	struct MeshBoneData
 	{
 		VertexDataStruct mesh;

src/Character.cpp

@@ -78,6 +78,43 @@ void Character::setPathPlanner(PathPlanner planner) {
     pathPlanner = std::move(planner);
 }
 
+bool Character::isMoving() const
+{
+	Eigen::Vector3f toTarget = walkTarget - position;
+	toTarget.y() = 0.f;
+	return !pathWaypoints.empty() || toTarget.norm() > WALK_THRESHOLD;
+}
+
+Eigen::Vector3f Character::getCurrentNavigationTarget() const
+{
+	if (!pathWaypoints.empty() && currentWaypointIndex < pathWaypoints.size()) {
+		return pathWaypoints[currentWaypointIndex];
+	}
+	return walkTarget;
+}
+
+void Character::forceReplan()
+{
+	if (!pathPlanner) {
+		return;
+	}
+
+	const Eigen::Vector3f normalizedTarget(requestedWalkTarget.x(), 0.f, requestedWalkTarget.z());
+	pathWaypoints = pathPlanner(position, normalizedTarget);
+	currentWaypointIndex = 0;
+
+	if (!pathWaypoints.empty()) {
+		for (Eigen::Vector3f& waypoint : pathWaypoints) {
+			waypoint.y() = 0.f;
+		}
+		walkTarget = pathWaypoints.back();
+		return;
+	}
+
+	walkTarget = Eigen::Vector3f(position.x(), 0.f, position.z());
+	onArrivedCallback = nullptr;
+}
+
 void Character::setTexture(std::shared_ptr<ZL::Texture> texture)
 {
     for (auto& animEntry : animations) {
@@ -90,15 +127,7 @@ void Character::setTexture(std::shared_ptr<ZL::Texture> texture)
 void Character::setTexture(const std::string& meshName, std::shared_ptr<Texture> tex) {
     meshTextures[meshName] = std::move(tex);
 }
-/*
-void Character::setTexture(std::shared_ptr<Texture> tex) {
-    for (auto& animEntry : animations) {
-        for (const auto& name : animEntry.second.model.meshNamesOrdered) {
-            meshTextures[name] = tex;
-        }
-    }
-}
-*/
+
 AnimationState Character::resolveActiveState() const {
     
     if (animations.count(currentState)) return currentState;
@@ -137,14 +166,6 @@ void Character::update(int64_t deltaMs) {
         deltaMs = static_cast<int64_t>(static_cast<float>(deltaMs) * speedMultiplier);
     }
 
-
-	//weaponInitialRotation = Eigen::AngleAxisf(x/180.0, Eigen::Vector3f::UnitZ()).toRotationMatrix();
-    //weaponInitialRotation = Eigen::AngleAxisf(-M_PI*0.5, Eigen::Vector3f::UnitZ()).toRotationMatrix();
-	//weaponInitialPosition = Eigen::Vector3f(0, 0.09, 0.016);
-     /*if (deltaMs > 200)
-    {
-        deltaMs = 200;
-    }*/
     Eigen::Vector3f activeTarget;
     Eigen::Vector3f lookTarget;
 
@@ -336,14 +357,8 @@ void Character::update(int64_t deltaMs) {
         resetAnim = false;
         anim.currentFrame = 0;
     }
-    //19
     int prevFrame = anim.currentFrame;
     anim.currentFrame += static_cast<float>(deltaMs) / 24.f;
-    /*
-    if (npcId == "ghost_01x")
-    {
-        std::cout << "Current animation frame: " << anim.currentFrame << " / " << anim.totalFrames << " -- " << anim.lastFrame << std::endl;
-    }*/
 
     if (static_cast<int>(anim.currentFrame) >= 20 && currentState == AnimationState::STAND_TO_ACTION)
     {
@@ -399,25 +414,21 @@ void Character::update(int64_t deltaMs) {
         if (currentState == AnimationState::STAND_TO_ACTION)
         {
             currentState = AnimationState::ACTION_IDLE;
-			//resetAnim = true;
         }
         if (currentState == AnimationState::ACTION_TO_STAND)
         {
             currentState = AnimationState::STAND;
-            //resetAnim = true;
         }
 
 		if (currentState == AnimationState::ACTION_ATTACK)
         {
             currentState = AnimationState::ACTION_IDLE;
-            //resetAnim = true;
             attack = 0;
         }
 
         if (currentState == AnimationState::ACTION_TO_DEATH)
         {
             currentState = AnimationState::DEATH_IDLE;
-            //resetAnim = true;
         }
     }
 

src/Character.h

@@ -53,11 +53,21 @@ public:
     void drawShadowDepth(Renderer& renderer);
     void drawWithShadow(Renderer& renderer, const Eigen::Matrix4f& lightFromCamera, GLuint shadowMapTex, const Eigen::Vector3f& lightDirCamera);
 
+	// Character-to-character collision (XZ-plane). Used by Location to keep
+	// player/NPCs from walking through each other.
+	float collisionRadius = 0.45f;
 
-	// attackDirection is a world-space horizontal vector pointing from the
-	// attacker toward this character — i.e. the direction the hit pushes
-	// them. A zero vector disables directional sparks (isotropic burst).
-	void applyDamage(float damageAmount, const Eigen::Vector3f& attackDirection = Eigen::Vector3f::Zero());
+	// Movement/path introspection used for dynamic replanning.
+	bool isMoving() const;
+	const Eigen::Vector3f& getRequestedWalkTarget() const { return requestedWalkTarget; }
+	Eigen::Vector3f getCurrentNavigationTarget() const;
+	void forceReplan();
+
+
+ 	// attackDirection is a world-space horizontal vector pointing from the
+ 	// attacker toward this character — i.e. the direction the hit pushes
+ 	// them. A zero vector disables directional sparks (isotropic burst).
+ 	void applyDamage(float damageAmount, const Eigen::Vector3f& attackDirection = Eigen::Vector3f::Zero());
 
 	// Configures the per-character hit-spark emitter with the shared spark
 	// texture. Safe to call once per character after construction.

src/Game.cpp

@@ -1,6 +1,5 @@
 #include "Game.h"
 #include "AnimatedModel.h"
-#include "BoneAnimatedModel.h"
 #include "utils/Utils.h"
 #include "render/OpenGlExtensions.h"
 #include <iostream>
@@ -662,16 +661,16 @@ namespace ZL
 			if (event.type == SDL_KEYDOWN && event.key.repeat == 0) {
 				switch (event.key.keysym.sym) {
 				case SDLK_1:
-					if (audioPlayer) audioPlayer->playSoundAsync("audio/background.wav");
+					//if (audioPlayer) audioPlayer->playSoundAsync("audio/background.wav");
 					break;
 				case SDLK_2:
-					if (audioPlayer) audioPlayer->playMusicAsync("audio/lullaby-music-vol20-186394--online-audio-convert.com.ogg");
+					//if (audioPlayer) audioPlayer->playMusicAsync("audio/lullaby-music-vol20-186394--online-audio-convert.com.ogg");
 					break;
 				case SDLK_3:
-					if (audioPlayer) audioPlayer->stopMusicAsync();
+					//if (audioPlayer) audioPlayer->stopMusicAsync();
 					break;
 				case SDLK_f:
-					currentLocation->dialogueSystem.startDialogue("test_choice_dialogue");
+					//currentLocation->dialogueSystem.startDialogue("test_choice_dialogue");
 					break;
 
 				case SDLK_e:

src/Game.h

@@ -1,6 +1,5 @@
 #pragma once
 #include "Character.h"
-#include "BoneAnimatedModel.h"
 #include "render/Renderer.h"
 #include "Environment.h"
 #include "render/TextureManager.h"
@@ -107,9 +106,6 @@ namespace ZL {
 		void updatePinchZoom();
 		void endPinch();
 		int countNonUiPointers() const;
-		void handleDown(int64_t fingerId, int mx, int my);
-		void handleUp(int64_t fingerId, int mx, int my);
-		void handleMotion(int64_t fingerId, int mx, int my);
 
 		void setupQuestJournalUi();
 		void toggleQuestJournal();

src/Location.cpp

@@ -23,6 +23,23 @@ namespace ZL
 	// on_npc_interact callback fires and the conversation begins.
 	static constexpr float NPC_TALK_DISTANCE = 1.25f;
 
+	static float distancePointToSegmentXZ(const Eigen::Vector3f& p,
+	                                      const Eigen::Vector3f& a,
+	                                      const Eigen::Vector3f& b)
+	{
+		const Eigen::Vector2f p2(p.x(), p.z());
+		const Eigen::Vector2f a2(a.x(), a.z());
+		const Eigen::Vector2f b2(b.x(), b.z());
+		const Eigen::Vector2f ab = b2 - a2;
+		const float abLenSq = ab.squaredNorm();
+		if (abLenSq <= 1e-8f) {
+			return (p2 - a2).norm();
+		}
+		const float t = std::clamp((p2 - a2).dot(ab) / abLenSq, 0.0f, 1.0f);
+		const Eigen::Vector2f closest = a2 + ab * t;
+		return (p2 - closest).norm();
+	}
+
 	Location::Location(Renderer& iRenderer, Inventory& iInventory)
 		: renderer(iRenderer)
 		, inventory(iInventory)
@@ -181,38 +198,51 @@ namespace ZL
 
 	void Location::setupNavigation(const std::string& navigationJsonPath)
 	{
-		std::vector<PathFinder::ObstacleMesh> obstacles;
-		obstacles.reserve(gameObjects.size() + interactiveObjects.size());
-
-		for (const auto& item : gameObjects) {
-			const LoadedGameObject& gameObj = item.second;
-			obstacles.push_back({ &gameObj.mesh.data, Eigen::Vector3f::Zero() });
-		}
-
-		for (const InteractiveObject& intObj : interactiveObjects) {
-			if (!intObj.isActive) {
-				continue;
-			}
-			obstacles.push_back({ &intObj.mesh.data, intObj.position });
-		}
-
-		navigation.build(obstacles, navigationJsonPath, CONST_ZIP_FILE);
+		// Static navigation blockers are defined in the navigation JSON as polygons.
+		// NPC + player are handled as dynamic obstacles, so they are intentionally NOT in JSON.
+		navigation.build({}, navigationJsonPath, CONST_ZIP_FILE);
 
 #ifdef SHOW_PATH
 		buildDebugNavMeshes();
 #endif
 
-		auto planner = [this](const Eigen::Vector3f& start, const Eigen::Vector3f& end) {
-			return navigation.findPath(start, end);
+		static constexpr float kDynamicObstacleInfluenceDist = 6.0f;
+
+		auto makePlanner = [this](const Character* self) {
+			return [this, self](const Eigen::Vector3f& start, const Eigen::Vector3f& end) {
+				std::vector<PathFinder::DynamicObstacle> dynamicObstacles;
+				dynamicObstacles.reserve(npcs.size() + 1);
+
+				const auto addCharacter = [&](const Character* other) {
+					if (!other || other == self) return;
+					if (other->hp <= 0.f) return;
+
+					if (distancePointToSegmentXZ(other->position, start, end) > kDynamicObstacleInfluenceDist) {
+						return;
+					}
+
+					PathFinder::DynamicObstacle obs;
+					obs.position = Eigen::Vector3f(other->position.x(), navigation.getFloorY(), other->position.z());
+					obs.radius = (std::max)(0.0f, other->collisionRadius);
+					dynamicObstacles.push_back(obs);
+				};
+
+				addCharacter(player.get());
+				for (const auto& npc : npcs) {
+					addCharacter(npc.get());
+				}
+
+				return navigation.findPath(start, end, dynamicObstacles);
 			};
+		};
 
 		if (player) {
-			player->setPathPlanner(planner);
+			player->setPathPlanner(makePlanner(player.get()));
 		}
 
 		for (auto& npc : npcs) {
 			if (npc) {
-				npc->setPathPlanner(planner);
+				npc->setPathPlanner(makePlanner(npc.get()));
 			}
 		}
 	}
@@ -641,6 +671,156 @@ namespace ZL
 		return navigation.setAreaAvailable(areaName, available);
 	}
 
+	void Location::resolveCharacterCollisions()
+	{
+		std::vector<Character*> characters;
+		characters.reserve(npcs.size() + 1);
+
+		if (player) {
+			characters.push_back(player.get());
+		}
+		for (auto& npc : npcs) {
+			if (npc) {
+				characters.push_back(npc.get());
+			}
+		}
+
+		if (characters.size() < 2) {
+			return;
+		}
+
+		static constexpr int kIterations = 3;
+		static constexpr float kMinSeparationEps = 1e-4f;
+
+		for (int iter = 0; iter < kIterations; ++iter) {
+			for (size_t i = 0; i < characters.size(); ++i) {
+				for (size_t j = i + 1; j < characters.size(); ++j) {
+					Character* a = characters[i];
+					Character* b = characters[j];
+					if (!a || !b) continue;
+					if (a->hp <= 0.f || b->hp <= 0.f) continue;
+
+					const float minDist = a->collisionRadius + b->collisionRadius;
+					if (minDist <= 0.f) continue;
+
+					const Eigen::Vector2f pa(a->position.x(), a->position.z());
+					const Eigen::Vector2f pb(b->position.x(), b->position.z());
+					const Eigen::Vector2f delta = pb - pa;
+					const float dist = delta.norm();
+
+					if (dist >= minDist) {
+						continue;
+					}
+
+					Eigen::Vector2f normal(1.f, 0.f);
+					if (dist > kMinSeparationEps) {
+						normal = delta / dist;
+					}
+
+					const float penetration = (minDist - dist);
+					const float push = penetration * 0.5f;
+
+					Eigen::Vector3f newA = a->position;
+					Eigen::Vector3f newB = b->position;
+					newA.x() -= normal.x() * push;
+					newA.z() -= normal.y() * push;
+					newA.y() = 0.f;
+					newB.x() += normal.x() * push;
+					newB.z() += normal.y() * push;
+					newB.y() = 0.f;
+
+					if (navigation.isReady()) {
+						const bool aOk = navigation.isWalkable(newA);
+						const bool bOk = navigation.isWalkable(newB);
+
+						if (aOk && bOk) {
+							a->position = newA;
+							b->position = newB;
+						}
+						else if (aOk && !bOk) {
+							a->position = newA;
+						}
+						else if (!aOk && bOk) {
+							b->position = newB;
+						}
+					}
+					else {
+						a->position = newA;
+						b->position = newB;
+					}
+				}
+			}
+		}
+	}
+
+	void Location::updateDynamicReplans(int64_t deltaMs)
+	{
+		static constexpr float kMovedEps = 0.05f;
+		static constexpr float kReplanTriggerDist = 1.1f;
+		static constexpr int64_t kReplanCooldownMs = 300;
+
+		for (auto it = replanCooldownRemainingMs.begin(); it != replanCooldownRemainingMs.end();) {
+			it->second -= deltaMs;
+			if (it->second <= 0) {
+				it = replanCooldownRemainingMs.erase(it);
+			}
+			else {
+				++it;
+			}
+		}
+
+		std::vector<Character*> characters;
+		characters.reserve(npcs.size() + 1);
+		if (player) characters.push_back(player.get());
+		for (auto& npc : npcs) if (npc) characters.push_back(npc.get());
+
+		std::vector<Character*> movers;
+		movers.reserve(characters.size());
+		for (Character* c : characters) {
+			if (!c) continue;
+			auto it = lastCharacterPositions.find(c);
+			if (it == lastCharacterPositions.end()) {
+				lastCharacterPositions[c] = c->position;
+				continue;
+			}
+
+			const Eigen::Vector3f prev = it->second;
+			const float moved = (c->position - prev).norm();
+			it->second = c->position;
+
+			if (moved > kMovedEps) {
+				movers.push_back(c);
+			}
+		}
+
+		if (movers.empty()) {
+			return;
+		}
+
+		for (Character* mover : movers) {
+			if (!mover) continue;
+
+			for (Character* walker : characters) {
+				if (!walker || walker == mover) continue;
+				if (walker->hp <= 0.f) continue;
+				if (!walker->isMoving()) continue;
+
+				if (replanCooldownRemainingMs.find(walker) != replanCooldownRemainingMs.end()) {
+					continue;
+				}
+
+				const Eigen::Vector3f nextTarget = walker->getCurrentNavigationTarget();
+				const float distToSegment = distancePointToSegmentXZ(mover->position, walker->position, nextTarget);
+				if (distToSegment > kReplanTriggerDist) {
+					continue;
+				}
+
+				walker->forceReplan();
+				replanCooldownRemainingMs[walker] = kReplanCooldownMs;
+			}
+		}
+	}
+
 	void Location::update(int64_t delta)
 	{
 		if (player) {
@@ -652,6 +832,9 @@ namespace ZL
 			npc->update(delta);
 		}
 
+		resolveCharacterCollisions();
+		updateDynamicReplans(delta);
+
 		// Check if player reached target interactive object
 		if (targetInteractiveObject && player) {
 			float distToObject = (player->position - targetInteractiveObject->position).norm();
@@ -888,4 +1071,4 @@ namespace ZL
 	}
 
 
-} // namespace ZL
+} // namespace ZL

src/Location.h

@@ -13,6 +13,8 @@
 #include "dialogue/DialogueSystem.h"
 #include "SparkEmitter.h"
 #include <functional>
+#include <cstdint>
+#include <unordered_map>
 namespace ZL
 {
 
@@ -112,6 +114,13 @@ namespace ZL
 	protected:
 		Renderer& renderer;
 		Inventory& inventory;		
+
+	private:
+		void resolveCharacterCollisions();
+		void updateDynamicReplans(int64_t deltaMs);
+
+		std::unordered_map<Character*, Eigen::Vector3f> lastCharacterPositions;
+		std::unordered_map<Character*, int64_t> replanCooldownRemainingMs;
 	};
 
-} // namespace ZL
+} // namespace ZL

src/TextModel.cpp

@@ -10,219 +10,6 @@
 namespace ZL
 {
 
-
-	VertexDataStruct LoadFromTextFile(const std::string& fileName,  const std::string& ZIPFileName)
-	{
-		VertexDataStruct result;
-		std::ifstream filestream;
-		std::istringstream zipStream;
-	
-		if (!ZIPFileName.empty())
-		{
-			std::vector<char> fileData = readFileFromZIP(fileName, ZIPFileName);
-			std::string fileContents(fileData.begin(), fileData.end());
-			zipStream.str(fileContents);
-		}
-		else
-		{
-			filestream.open(fileName);
-		}
-	
-		// Создаем ссылку f на нужный поток – после этого код ниже остается без изменений
-		std::istream& f = (!ZIPFileName.empty()) ? static_cast<std::istream&>(zipStream) : static_cast<std::istream&>(filestream);
-	
-
-		//Skip first 5 lines
-		std::string tempLine;	
-
-		std::getline(f, tempLine);
-
-		static const std::regex pattern_count(R"(\d+)");
-		static const std::regex pattern_float(R"([-]?\d+\.\d+)");
-		static const std::regex pattern_int(R"([-]?\d+)");
-
-
-		std::smatch match;
-
-		int numberVertices;
-
-		if (std::regex_search(tempLine, match, pattern_count)) {
-			std::string number_str = match.str();
-			numberVertices = std::stoi(number_str);
-		}
-		else {
-			std::cout << "No number found in the input string: " << tempLine << std::endl;
-			throw std::runtime_error("No number found in the input string.");
-		}
-
-		std::vector<Vector3f> vertices;
-
-		vertices.resize(numberVertices);
-		for (int i = 0; i < numberVertices; i++)
-		{
-			std::getline(f, tempLine);
-
-			std::vector<float> floatValues;
-
-			auto b = tempLine.cbegin();
-			auto e = tempLine.cend();
-			while (std::regex_search(b, e, match, pattern_float)) {
-				floatValues.push_back(std::stof(match.str()));
-				b = match.suffix().first;
-			}
-
-			vertices[i] = Vector3f{ floatValues[0], floatValues[1], floatValues[2] };
-		}
-
-		std::cout << "UV Coordinates" << std::endl;
-
-		std::getline(f, tempLine); //===UV Coordinates:
-
-		std::getline(f, tempLine); //triangle count
-		int numberTriangles;
-
-		if (std::regex_search(tempLine, match, pattern_count)) {
-			std::string number_str = match.str();
-			numberTriangles = std::stoi(number_str);
-		}
-		else {
-			std::cout << "-No number found in the input string: " << tempLine << std::endl;
-			throw std::runtime_error("-No number found in the input string.");
-		}
-
-
-		// Now process UVs
-		std::vector<std::array<Vector2f, 3>> uvCoords;
-
-		uvCoords.resize(numberTriangles);
-
-		for (int i = 0; i < numberTriangles; i++)
-		{
-			std::getline(f, tempLine); //Face 0
-
-			int uvCount;
-			std::getline(f, tempLine);
-			if (std::regex_search(tempLine, match, pattern_count)) {
-				std::string number_str = match.str();
-				uvCount = std::stoi(number_str);
-			}
-			else {
-				std::cout << "2 No number found in the input string: " << tempLine << std::endl;
-				throw std::runtime_error("2 No number found in the input string.");
-			}
-
-			if (uvCount != 3)
-			{
-				std::cout << "UV count is not 3 for triangle " << i << ": " << uvCount << std::endl;
-				throw std::runtime_error("more than 3 uvs");
-			}
-
-			std::vector<float> floatValues;
-
-			for (int j = 0; j < 3; j++)
-			{
-				std::getline(f, tempLine); //UV <Vector (-0.3661, -1.1665)>
-				
-				auto b = tempLine.cbegin();
-				auto e = tempLine.cend();
-				floatValues.clear();
-				while (std::regex_search(b, e, match, pattern_float)) {
-					floatValues.push_back(std::stof(match.str()));
-					b = match.suffix().first;
-				}
-
-				if (floatValues.size() != 2)
-				{
-					std::cout << "UV count is not 2: " << j << " " << floatValues.size() << std::endl;
-					throw std::runtime_error("more than 2 uvs---");
-				}
-
-				uvCoords[i][j] = Vector2f{ floatValues[0],floatValues[1] };
-			}
-		}
-
-		//std::cout << "Normals go" << std::endl;
-
-		std::getline(f, tempLine); //===Normals:
-
-
-		std::vector<Vector3f> normals;
-
-		normals.resize(numberVertices);
-		for (int i = 0; i < numberVertices; i++)
-		{
-			std::getline(f, tempLine);
-
-			std::vector<float> floatValues;
-
-			auto b = tempLine.cbegin();
-			auto e = tempLine.cend();
-			while (std::regex_search(b, e, match, pattern_float)) {
-				floatValues.push_back(std::stof(match.str()));
-				b = match.suffix().first;
-			}
-
-			normals[i] = Vector3f{ floatValues[0], floatValues[1], floatValues[2] };
-		}
-
-		//std::cout << "Triangles go:" << std::endl;
-
-		std::getline(f, tempLine); //===Triangles: 3974
-
-
-		std::vector<std::array<int, 3>> triangles;
-
-		triangles.resize(numberTriangles);
-		for (int i = 0; i < numberTriangles; i++)
-		{
-			std::getline(f, tempLine);
-
-			std::vector<int> intValues;
-
-			auto b = tempLine.cbegin();
-			auto e = tempLine.cend();
-			while (std::regex_search(b, e, match, pattern_int)) {
-				intValues.push_back(std::stoi(match.str()));
-				b = match.suffix().first;
-			}
-
-			triangles[i] = { intValues[0], intValues[1], intValues[2] };
-		}
-
-
-		std::cout << "Process vertices" << std::endl;
-
-
-
-		// Now let's process vertices
-
-		for (int i = 0; i < numberTriangles; i++)
-		{
-			
-			result.PositionData.push_back(vertices[triangles[i][0]]);
-			result.PositionData.push_back(vertices[triangles[i][1]]);
-			result.PositionData.push_back(vertices[triangles[i][2]]);
-
-			result.TexCoordData.push_back(uvCoords[i][0]);
-			result.TexCoordData.push_back(uvCoords[i][1]);
-			result.TexCoordData.push_back(uvCoords[i][2]);
-
-		}
-
-		//Swap from Blender format to OpenGL format
-		for (int i = 0; i < result.PositionData.size(); i++)
-		{
-			Vector3f tempVec = result.PositionData[i];
-			result.PositionData[i](0) = tempVec(1);
-			result.PositionData[i](1) = tempVec(2);
-			result.PositionData[i](2) = tempVec(0);
-
-		}
-
-		return result;
-
-	}
-
 	VertexDataStruct LoadFromTextFile02(const std::string& fileName, const std::string& ZIPFileName)
 	{
 		VertexDataStruct result;

src/TextModel.h

@@ -6,6 +6,5 @@
 
 namespace ZL
 {
-	VertexDataStruct LoadFromTextFile(const std::string& fileName, const std::string& ZIPFileName = "");
 	VertexDataStruct LoadFromTextFile02(const std::string& fileName, const std::string& ZIPFileName = "");
 }

src/dialogue/DialogueOverlay.cpp

@@ -205,11 +205,7 @@ void DialogueOverlay::drawDialogue(Renderer& renderer, const PresentationModel&
         nameRenderer->drawText(model.speaker, nameX, nameY, 1.0f, false, { 1.0f, 0.88f, 0.45f, 1.0f });
     }
 
-   // const std::string wrappedBody = wrapText(model.visibleText, 90);
-   // bodyRenderer->drawText(wrappedBody, bodyX, bodyY, 1.0f, false, { 1.0f, 1.0f, 1.0f, 1.0f });
-    // const std::string wrappedBody = wrapText(model.visibleText, 56);
-    // bodyRenderer->drawText(wrappedBody, bodyX, bodyY, 1.0f, false, { 1.0f, 1.0f, 1.0f, 1.0f });
-    
+
     const float bodyTextScale = 1.0f;
     const float bodyMaxWidthPx = textboxRect.w - 48.0f;
     

src/items/GameObjectLoader.h

@@ -7,14 +7,9 @@
 #include "external/nlohmann/json.hpp"
 #include "TextModel.h"
 #include "InteractiveObject.h"
-//#include "Character.h"
-//#include "render/TextureManager.h"
 
 namespace ZL {
-	
-	//struct Texture;
-	//struct VertexRenderStruct;
-	//class Renderer;
+
 	class Character;
 
 	struct GameObjectData {

src/navigation/PathFinder.cpp

@@ -38,6 +38,52 @@ namespace {
 
         return polygon;
     }
+
+    float distancePointToSegment2D(const Eigen::Vector2f& p,
+                                   const Eigen::Vector2f& a,
+                                   const Eigen::Vector2f& b)
+    {
+        const Eigen::Vector2f ab = b - a;
+        const float abLenSq = ab.squaredNorm();
+        if (abLenSq <= 1e-8f) {
+            return (p - a).norm();
+        }
+        float t = (p - a).dot(ab) / abLenSq;
+        t = (std::max)(0.0f, (std::min)(1.0f, t));
+        const Eigen::Vector2f proj = a + t * ab;
+        return (p - proj).norm();
+    }
+
+    Eigen::Vector2f closestPointOnSegment2D(const Eigen::Vector2f& p,
+                                            const Eigen::Vector2f& a,
+                                            const Eigen::Vector2f& b)
+    {
+        const Eigen::Vector2f ab = b - a;
+        const float abLenSq = ab.squaredNorm();
+        if (abLenSq <= 1e-8f) {
+            return a;
+        }
+
+        float t = (p - a).dot(ab) / abLenSq;
+        t = (std::max)(0.0f, (std::min)(1.0f, t));
+        return a + t * ab;
+    }
+
+    float distancePointToPolygonEdges(const Eigen::Vector2f& p,
+                                      const std::vector<Eigen::Vector2f>& polygon)
+    {
+        if (polygon.size() < 2) {
+            return (std::numeric_limits<float>::max)();
+        }
+
+        float best = (std::numeric_limits<float>::max)();
+        for (size_t i = 0; i < polygon.size(); ++i) {
+            const Eigen::Vector2f& a = polygon[i];
+            const Eigen::Vector2f& b = polygon[(i + 1) % polygon.size()];
+            best = (std::min)(best, distancePointToSegment2D(p, a, b));
+        }
+        return best;
+    }
 }
 
 void PathFinder::build(const std::vector<ObstacleMesh>& obstacleMeshes,
@@ -74,8 +120,8 @@ std::vector<Eigen::Vector3f> PathFinder::findPath(const Eigen::Vector3f& start,
 
     Cell startCell;
     Cell endCell;
-    if (!findNearestWalkableCell(start, startCell) ||
-        !findNearestWalkableCell(end, endCell)) {
+    if (!findNearestWalkableCell(start, startCell, walkable) ||
+        !findNearestWalkableCell(end, endCell, walkable)) {
         return {};
     }
 
@@ -121,7 +167,7 @@ std::vector<Eigen::Vector3f> PathFinder::findPath(const Eigen::Vector3f& start,
 
         for (const auto& offset : offsets) {
             Cell next{ currentCell.x + offset[0], currentCell.z + offset[1] };
-            if (!isCellWalkable(next)) {
+            if (!isCellWalkable(next, walkable)) {
                 continue;
             }
 
@@ -129,7 +175,7 @@ std::vector<Eigen::Vector3f> PathFinder::findPath(const Eigen::Vector3f& start,
             if (diagonal) {
                 Cell horizontal{ currentCell.x + offset[0], currentCell.z };
                 Cell vertical{ currentCell.x, currentCell.z + offset[1] };
-                if (!isCellWalkable(horizontal) || !isCellWalkable(vertical)) {
+                if (!isCellWalkable(horizontal, walkable) || !isCellWalkable(vertical, walkable)) {
                     continue;
                 }
             }
@@ -160,7 +206,161 @@ std::vector<Eigen::Vector3f> PathFinder::findPath(const Eigen::Vector3f& start,
         }
     }
     std::reverse(cells.begin(), cells.end());
-    cells = smoothCells(cells);
+    cells = smoothCells(cells, walkable);
+
+    std::vector<Eigen::Vector3f> path;
+    path.reserve(cells.size());
+    for (const Cell& cell : cells) {
+        path.push_back(cellCenter(cell));
+    }
+
+    if (!path.empty() && (path.front() - Eigen::Vector3f(start.x(), floorY, start.z())).norm() < cellSize * 0.75f) {
+        path.erase(path.begin());
+    }
+
+    if (!path.empty()) {
+        Cell requestedEndCell;
+        if (worldToCell(end, requestedEndCell) &&
+            requestedEndCell.x == endCell.x &&
+            requestedEndCell.z == endCell.z) {
+            path.back() = Eigen::Vector3f(end.x(), floorY, end.z());
+        }
+    }
+
+    return path;
+}
+
+std::vector<Eigen::Vector3f> PathFinder::findPath(const Eigen::Vector3f& start,
+                                                  const Eigen::Vector3f& end,
+                                                  const std::vector<DynamicObstacle>& dynamicObstacles) const
+{
+    if (!ready || walkable.empty()) {
+        return {};
+    }
+
+    std::vector<unsigned char> walkableGrid = walkable;
+    if (!dynamicObstacles.empty()) {
+        for (const DynamicObstacle& obstacle : dynamicObstacles) {
+            const float radius = obstacle.radius + agentRadius;
+            if (radius <= 0.0f) continue;
+
+            const float minWorldX = obstacle.position.x() - radius;
+            const float maxWorldX = obstacle.position.x() + radius;
+            const float minWorldZ = obstacle.position.z() - radius;
+            const float maxWorldZ = obstacle.position.z() + radius;
+
+            const int minCellX = (std::max)(0, static_cast<int>(std::floor((minWorldX - minX) / cellSize)));
+            const int maxCellX = (std::min)(gridWidth - 1, static_cast<int>(std::floor((maxWorldX - minX) / cellSize)));
+            const int minCellZ = (std::max)(0, static_cast<int>(std::floor((minWorldZ - minZ) / cellSize)));
+            const int maxCellZ = (std::min)(gridDepth - 1, static_cast<int>(std::floor((maxWorldZ - minZ) / cellSize)));
+
+            const float radiusSq = radius * radius;
+            for (int z = minCellZ; z <= maxCellZ; ++z) {
+                for (int x = minCellX; x <= maxCellX; ++x) {
+                    const Cell cell{ x, z };
+                    const Eigen::Vector3f center = cellCenter(cell);
+                    const float dx = center.x() - obstacle.position.x();
+                    const float dz = center.z() - obstacle.position.z();
+                    if (dx * dx + dz * dz <= radiusSq) {
+                        const int idx = indexOf(cell);
+                        if (idx >= 0 && idx < static_cast<int>(walkableGrid.size())) {
+                            walkableGrid[static_cast<size_t>(idx)] = 0;
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    Cell startCell;
+    Cell endCell;
+    if (!findNearestWalkableCell(start, startCell, walkableGrid) ||
+        !findNearestWalkableCell(end, endCell, walkableGrid)) {
+        return {};
+    }
+
+    if (startCell.x == endCell.x && startCell.z == endCell.z) {
+        return { cellCenter(endCell) };
+    }
+
+    struct QueueNode {
+        int index = 0;
+        float priority = 0.0f;
+
+        bool operator<(const QueueNode& other) const
+        {
+            return priority > other.priority;
+        }
+    };
+
+    const int cellCount = gridWidth * gridDepth;
+    std::vector<float> cost(static_cast<size_t>(cellCount), INF_COST);
+    std::vector<int> cameFrom(static_cast<size_t>(cellCount), -1);
+    std::priority_queue<QueueNode> open;
+
+    const int startIndex = indexOf(startCell);
+    const int endIndex = indexOf(endCell);
+
+    cost[static_cast<size_t>(startIndex)] = 0.0f;
+    open.push({ startIndex, 0.0f });
+
+    static const int offsets[8][2] = {
+        { 1, 0 }, { -1, 0 }, { 0, 1 }, { 0, -1 },
+        { 1, 1 }, { 1, -1 }, { -1, 1 }, { -1, -1 }
+    };
+
+    while (!open.empty()) {
+        const QueueNode current = open.top();
+        open.pop();
+
+        if (current.index == endIndex) {
+            break;
+        }
+
+        const Cell currentCell{ current.index % gridWidth, current.index / gridWidth };
+
+        for (const auto& offset : offsets) {
+            Cell next{ currentCell.x + offset[0], currentCell.z + offset[1] };
+            if (!isCellWalkable(next, walkableGrid)) {
+                continue;
+            }
+
+            const bool diagonal = offset[0] != 0 && offset[1] != 0;
+            if (diagonal) {
+                Cell horizontal{ currentCell.x + offset[0], currentCell.z };
+                Cell vertical{ currentCell.x, currentCell.z + offset[1] };
+                if (!isCellWalkable(horizontal, walkableGrid) || !isCellWalkable(vertical, walkableGrid)) {
+                    continue;
+                }
+            }
+
+            const int nextIndex = indexOf(next);
+            const float stepCost = diagonal ? 1.41421356f : 1.0f;
+            const float newCost = cost[static_cast<size_t>(current.index)] + stepCost;
+            if (newCost >= cost[static_cast<size_t>(nextIndex)]) {
+                continue;
+            }
+
+            cost[static_cast<size_t>(nextIndex)] = newCost;
+            cameFrom[static_cast<size_t>(nextIndex)] = current.index;
+            const float priority = newCost + distanceCells(next, endCell);
+            open.push({ nextIndex, priority });
+        }
+    }
+
+    if (cameFrom[static_cast<size_t>(endIndex)] == -1) {
+        return {};
+    }
+
+    std::vector<Cell> cells;
+    for (int current = endIndex; current != -1; current = cameFrom[static_cast<size_t>(current)]) {
+        cells.push_back({ current % gridWidth, current / gridWidth });
+        if (current == startIndex) {
+            break;
+        }
+    }
+    std::reverse(cells.begin(), cells.end());
+    cells = smoothCells(cells, walkableGrid);
 
     std::vector<Eigen::Vector3f> path;
     path.reserve(cells.size());
@@ -206,7 +406,7 @@ bool PathFinder::setAreaAvailable(const std::string& areaName, bool available)
 bool PathFinder::isWalkable(const Eigen::Vector3f& point) const
 {
     Cell cell;
-    return worldToCell(point, cell) && isCellWalkable(cell);
+    return worldToCell(point, cell) && isCellWalkable(cell, walkable);
 }
 
 void PathFinder::loadConfig(const std::string& configPath, const std::string& zipPath)
@@ -215,7 +415,9 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
     agentRadius = 0.45f;
     floorY = 0.0f;
     objectPadding = 0.25f;
+    boundaryPadding = 0.0f;
     areas.clear();
+    obstaclePolygons.clear();
 
     try {
         std::string content;
@@ -236,6 +438,7 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
         agentRadius = root.value("agentRadius", agentRadius);
         floorY = root.value("floorY", floorY);
         objectPadding = root.value("objectPadding", objectPadding);
+        boundaryPadding = root.value("boundaryPadding", boundaryPadding);
 
         if (!root.contains("areas") || !root["areas"].is_array()) {
             std::cerr << "[nav] Navigation config has no 'areas' array: " << configPath << "\n";
@@ -259,6 +462,18 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
 
             areas.push_back(area);
         }
+
+        if (root.contains("obstacles") && root["obstacles"].is_array()) {
+            for (const auto& item : root["obstacles"]) {
+                ObstaclePolygon obstacle;
+                obstacle.name = item.value("name", "");
+                obstacle.polygon = readPolygon(item);
+                if (obstacle.polygon.size() < 3) {
+                    continue;
+                }
+                obstaclePolygons.push_back(std::move(obstacle));
+            }
+        }
     } catch (const std::exception& e) {
         std::cerr << "[nav] Failed to load config '" << configPath << "': " << e.what() << "\n";
     }
@@ -266,6 +481,7 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
     cellSize = (std::max)(cellSize, 0.1f);
     agentRadius = (std::max)(agentRadius, 0.0f);
     objectPadding = (std::max)(objectPadding, 0.0f);
+    boundaryPadding = (std::max)(boundaryPadding, 0.0f);
 }
 
 void PathFinder::resetGridBounds()
@@ -304,6 +520,12 @@ void PathFinder::resetGridBounds()
         }
     }
 
+    for (const ObstaclePolygon& obstacle : obstaclePolygons) {
+        for (const Eigen::Vector2f& point : obstacle.polygon) {
+            includePoint(point.x(), point.y());
+        }
+    }
+
     const float padding = cellSize * 2.0f + agentRadius + objectPadding;
     minX -= padding;
     minZ -= padding;
@@ -319,20 +541,75 @@ void PathFinder::rebuildWalkableGrid()
     walkable.assign(static_cast<size_t>(gridWidth * gridDepth), 0);
     markAvailableAreasWalkable();
     markObstacleMeshesBlocked();
+    markObstaclePolygonsBlocked();
 }
 
 void PathFinder::markAvailableAreasWalkable()
 {
+    const auto insideAvailableArea = [this](const Eigen::Vector2f& point) {
+        for (const NavigationArea& area : areas) {
+            if (!area.available) {
+                continue;
+            }
+            if (pointInPolygon(point.x(), point.y(), area.polygon)) {
+                return true;
+            }
+        }
+        return false;
+    };
+
+    const auto externalBoundaryDistance = [this, &insideAvailableArea](const Eigen::Vector2f& point) {
+        if (boundaryPadding <= 0.0f) {
+            return (std::numeric_limits<float>::max)();
+        }
+
+        const float sampleOffset = (std::max)(cellSize * 0.25f, 0.05f);
+        float best = (std::numeric_limits<float>::max)();
+
+        for (const NavigationArea& area : areas) {
+            if (!area.available || area.polygon.size() < 2) {
+                continue;
+            }
+
+            for (size_t i = 0; i < area.polygon.size(); ++i) {
+                const Eigen::Vector2f& a = area.polygon[i];
+                const Eigen::Vector2f& b = area.polygon[(i + 1) % area.polygon.size()];
+                const Eigen::Vector2f edge = b - a;
+                if (edge.squaredNorm() <= 1e-8f) {
+                    continue;
+                }
+
+                const Eigen::Vector2f closest = closestPointOnSegment2D(point, a, b);
+                Eigen::Vector2f normal(-edge.y(), edge.x());
+                normal.normalize();
+
+                const bool sideAInside = insideAvailableArea(closest + normal * sampleOffset);
+                const bool sideBInside = insideAvailableArea(closest - normal * sampleOffset);
+                if (sideAInside && sideBInside) {
+                    continue;
+                }
+
+                best = (std::min)(best, distancePointToSegment2D(point, a, b));
+            }
+        }
+
+        return best;
+    };
+
     for (int z = 0; z < gridDepth; ++z) {
         for (int x = 0; x < gridWidth; ++x) {
             const Cell cell{ x, z };
             const Eigen::Vector3f center = cellCenter(cell);
+            const Eigen::Vector2f point(center.x(), center.z());
 
             for (const NavigationArea& area : areas) {
                 if (!area.available) {
                     continue;
                 }
                 if (pointInPolygon(center.x(), center.z(), area.polygon)) {
+                    if (boundaryPadding > 0.0f && externalBoundaryDistance(point) < boundaryPadding) {
+                        continue;
+                    }
                     walkable[static_cast<size_t>(indexOf(cell))] = 1;
                     break;
                 }
@@ -341,8 +618,51 @@ void PathFinder::markAvailableAreasWalkable()
     }
 }
 
+void PathFinder::markObstaclePolygonsBlocked()
+{
+    if (obstaclePolygons.empty()) {
+        return;
+    }
+
+    const float padding = agentRadius + objectPadding;
+
+    for (int z = 0; z < gridDepth; ++z) {
+        for (int x = 0; x < gridWidth; ++x) {
+            const Cell cell{ x, z };
+            const int idx = indexOf(cell);
+            if (idx < 0 || idx >= static_cast<int>(walkable.size())) {
+                continue;
+            }
+            if (!walkable[static_cast<size_t>(idx)]) {
+                continue;
+            }
+
+            const Eigen::Vector3f center3 = cellCenter(cell);
+            const Eigen::Vector2f center(center3.x(), center3.z());
+
+            for (const ObstaclePolygon& obstacle : obstaclePolygons) {
+                if (pointInPolygon(center.x(), center.y(), obstacle.polygon)) {
+                    walkable[static_cast<size_t>(idx)] = 0;
+                    break;
+                }
+                if (padding > 0.0f &&
+                    distancePointToPolygonEdges(center, obstacle.polygon) <= padding) {
+                    walkable[static_cast<size_t>(idx)] = 0;
+                    break;
+                }
+            }
+        }
+    }
+}
+
 void PathFinder::markObstacleMeshesBlocked()
 {
+    if (!obstaclePolygons.empty()) {
+        // Prefer JSON-defined obstacle polygons over mesh-derived blockers.
+        // Mesh blockers tend to over-block (e.g. tree crowns) and are harder to author/tune.
+        return;
+    }
+
     const float padding = agentRadius + objectPadding;
 
     for (const ObstacleMesh& obstacle : obstacles) {
@@ -406,7 +726,16 @@ bool PathFinder::isInsideGrid(const Cell& cell) const
 
 bool PathFinder::isCellWalkable(const Cell& cell) const
 {
-    return isInsideGrid(cell) && walkable[static_cast<size_t>(indexOf(cell))] != 0;
+    return isCellWalkable(cell, walkable);
+}
+
+bool PathFinder::isCellWalkable(const Cell& cell, const std::vector<unsigned char>& walkableGrid) const
+{
+    const int idx = indexOf(cell);
+    return isInsideGrid(cell) &&
+           idx >= 0 &&
+           idx < static_cast<int>(walkableGrid.size()) &&
+           walkableGrid[static_cast<size_t>(idx)] != 0;
 }
 
 int PathFinder::indexOf(const Cell& cell) const
@@ -415,6 +744,11 @@ int PathFinder::indexOf(const Cell& cell) const
 }
 
 bool PathFinder::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
 {
     Cell origin;
     if (!worldToCell(point, origin)) {
@@ -424,7 +758,7 @@ bool PathFinder::findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out
         origin.z = (std::min)((std::max)(z, 0), gridDepth - 1);
     }
 
-    if (isCellWalkable(origin)) {
+    if (isCellWalkable(origin, walkableGrid)) {
         out = origin;
         return true;
     }
@@ -438,7 +772,7 @@ bool PathFinder::findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out
                 }
 
                 Cell candidate{ origin.x + dx, origin.z + dz };
-                if (isCellWalkable(candidate)) {
+                if (isCellWalkable(candidate, walkableGrid)) {
                     out = candidate;
                     return true;
                 }
@@ -450,6 +784,11 @@ bool PathFinder::findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out
 }
 
 bool PathFinder::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
 {
     const Eigen::Vector3f a = cellCenter(from);
     const Eigen::Vector3f b = cellCenter(to);
@@ -460,7 +799,7 @@ bool PathFinder::hasLineOfSight(const Cell& from, const Cell& to) const
         const float t = static_cast<float>(i) / static_cast<float>(steps);
         const Eigen::Vector3f p = a * (1.0f - t) + b * t;
         Cell cell;
-        if (!worldToCell(p, cell) || !isCellWalkable(cell)) {
+        if (!worldToCell(p, cell) || !isCellWalkable(cell, walkableGrid)) {
             return false;
         }
     }
@@ -469,6 +808,11 @@ bool PathFinder::hasLineOfSight(const Cell& from, const Cell& to) const
 }
 
 std::vector<PathFinder::Cell> PathFinder::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
 {
     if (cells.size() <= 2) {
         return cells;
@@ -480,7 +824,7 @@ std::vector<PathFinder::Cell> PathFinder::smoothCells(const std::vector<Cell>& c
 
     while (anchor < cells.size() - 1) {
         size_t next = cells.size() - 1;
-        while (next > anchor + 1 && !hasLineOfSight(cells[anchor], cells[next])) {
+        while (next > anchor + 1 && !hasLineOfSight(cells[anchor], cells[next], walkableGrid)) {
             --next;
         }
 

src/navigation/PathFinder.h

@@ -14,6 +14,16 @@ public:
         Eigen::Vector3f offset = Eigen::Vector3f::Zero();
     };
 
+    struct ObstaclePolygon {
+        std::string name;
+        std::vector<Eigen::Vector2f> polygon;
+    };
+
+	struct DynamicObstacle {
+		Eigen::Vector3f position = Eigen::Vector3f::Zero();
+		float radius = 0.0f;
+	};
+
     struct Cell {
         int x = 0;
         int z = 0;
@@ -32,6 +42,10 @@ public:
     std::vector<Eigen::Vector3f> findPath(const Eigen::Vector3f& start,
                                           const Eigen::Vector3f& end) const;
 
+	std::vector<Eigen::Vector3f> findPath(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;
@@ -44,6 +58,7 @@ private:
     float agentRadius = 0.45f;
     float floorY = 0.0f;
     float objectPadding = 0.25f;
+    float boundaryPadding = 0.0f;
 
     float minX = 0.0f;
     float minZ = 0.0f;
@@ -54,6 +69,7 @@ private:
     std::string loadedConfigPath;
     std::string loadedZipPath;
     std::vector<ObstacleMesh> obstacles;
+    std::vector<ObstaclePolygon> obstaclePolygons;
     std::vector<unsigned char> walkable;
     std::vector<NavigationArea> areas;
 
@@ -62,6 +78,7 @@ private:
     void rebuildWalkableGrid();
     void markAvailableAreasWalkable();
     void markObstacleMeshesBlocked();
+    void markObstaclePolygonsBlocked();
 
     bool worldToCell(const Eigen::Vector3f& point, Cell& out) const;
     Eigen::Vector3f cellCenter(const Cell& cell) const;
@@ -74,6 +91,11 @@ private:
     std::vector<Cell> smoothCells(const std::vector<Cell>& cells) const;
 
     static bool pointInPolygon(float x, float z, const std::vector<Eigen::Vector2f>& polygon);
+
+	bool isCellWalkable(const Cell& cell, const std::vector<unsigned char>& walkableGrid) const;
+	bool findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out, const std::vector<unsigned char>& walkableGrid) const;
+	bool hasLineOfSight(const Cell& from, const Cell& to, const std::vector<unsigned char>& walkableGrid) const;
+	std::vector<Cell> smoothCells(const std::vector<Cell>& cells, const std::vector<unsigned char>& walkableGrid) const;
 };
 
 } // namespace ZL

src/render/FrameBuffer.h

@@ -9,10 +9,9 @@ namespace ZL {
         GLuint fbo = 0;
         GLuint textureID = 0;
         int width, height;
-        bool useMipmaps; // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD>
+        bool useMipmaps;
 
     public:
-        // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> false
         FrameBuffer(int w, int h, bool useMipmaps = false);
         ~FrameBuffer();
 
@@ -22,7 +21,6 @@ namespace ZL {
         void Bind();
         void Unbind();
 
-        // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
         void GenerateMipmaps();
 
         GLuint getTextureID() const { return textureID; }

src/render/ShaderManager.h

@@ -14,8 +14,6 @@ namespace ZL {
 		GLuint shaderProgram;
 
 		std::unordered_map<std::string, GLuint> uniformList;
-
-		//std::unordered_map<std::string, std::pair<bool, size_t>>  UniformList;
 		std::map<std::string, GLuint>  attribList;
 
 		

src/render/TextRenderer.cpp

@@ -298,34 +298,6 @@ bool TextRenderer::loadGlyphs(const std::string& ttfPath, int pixelSize, const s
         rowHeight = max(rowHeight, gb.height);
     }
 
-  //  // Проходим по стандартным ASCII символам
-  //  for (unsigned char c = 32; c < 128; ++c) {
-  //      
-  //      FT_Load_Char(face, c, FT_LOAD_RENDER);
-
-  //      TextureDataStruct glyphData;
-  //      glyphData.width = face->glyph->bitmap.width;
-  //      glyphData.height = face->glyph->bitmap.rows;
-  //      glyphData.format = TextureDataStruct::R8;
-  //      glyphData.mipmap = TextureDataStruct::NONE;
-
-  //      // Копируем буфер FreeType в вектор данных
-  //      size_t dataSize = glyphData.width * glyphData.height;
-  //      glyphData.data.assign(face->glyph->bitmap.buffer, face->glyph->bitmap.buffer + dataSize);
-
-  //      // Теперь создание текстуры — это одна строка!
-  //      auto tex = std::make_shared<Texture>(glyphData);
-
-		//GlyphInfo g;
-  //      g.texture = tex;
-  //      g.size = Eigen::Vector2f((float)face->glyph->bitmap.width, (float)face->glyph->bitmap.rows);
-  //      g.bearing = Eigen::Vector2f((float)face->glyph->bitmap_left, (float)face->glyph->bitmap_top);
-  //      // Advance во FreeType измеряется в 1/64 пикселя
-  //      g.advance = (unsigned int)face->glyph->advance.x;
-
-  //      glyphs.emplace((char)c, g);
-  //  }
-
     // Создаём Texture из atlasData (R8)
     TextureDataStruct atlasTex;
     atlasTex.width = atlasWidth;
@@ -466,12 +438,9 @@ void TextRenderer::drawText(const std::string& text, float x, float y, float sca
     // Примечание: для текста лучше использовать GL_DYNAMIC_DRAW, 
     // но RefreshVBO сейчас жестко зашит на GL_STATIC_DRAW. 
     // Для UI это обычно не критично, если строк не тысячи.
-    // textMesh.AssignFrom(textData);
 
     // 4. Рендеринг
     r->shaderManager.PushShader(shaderName);
-    //r->PushMatrix();
-    //r->LoadIdentity();
 
     // Матрица проекции — используем виртуальные проекционные размеры,
     // чтобы координаты текста были независимы от физического разрешения экрана.
@@ -498,24 +467,7 @@ void TextRenderer::drawText(const std::string& text, float x, float y, float sca
     glEnable(GL_BLEND);
     glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 
-    //for (size_t i = 0; i < text.length(); ++i) {
-    //    auto it = glyphs.find(text[i]);
-    //    if (it == glyphs.end()) continue;
-
-    //    glBindTexture(GL_TEXTURE_2D, it->second.texture->getTexID());
-
-    //    // Отрисовываем по 6 вершин за раз
-    //    // Нам нужно вручную биндить VBO, так как DrawVertexRenderStruct рисует всё сразу
-    //    glBindBuffer(GL_ARRAY_BUFFER, textMesh.positionVBO->getBuffer());
-    //    r->VertexAttribPointer3fv("vPosition", 0, (const char*)(i * 6 * sizeof(Vector3f)));
-
-    //    glBindBuffer(GL_ARRAY_BUFFER, textMesh.texCoordVBO->getBuffer());
-    //    r->VertexAttribPointer2fv("vTexCoord", 0, (const char*)(i * 6 * sizeof(Vector2f)));
-
-    //    glDrawArrays(GL_TRIANGLES, 0, 6);
-    //}
 	r->DrawVertexRenderStruct(cached.mesh);
-    //r->PopMatrix();
 
     glDisable(GL_BLEND);
 

src/render/TextRenderer.h

@@ -12,7 +12,6 @@
 namespace ZL {
     
 struct GlyphInfo {
-    // std::shared_ptr<Texture> texture; // Texture for glyph
     Eigen::Vector2f uv;      // u,v координата левого верхнего угла в атласе (0..1)
     Eigen::Vector2f uvSize;  // ширина/высота в UV (0..1)
     
@@ -42,10 +41,6 @@ private:
 
     std::unordered_map<uint32_t, GlyphInfo> glyphs;
 
-    // OpenGL objects for a dynamic quad
-    //unsigned int vao = 0;
-    //unsigned int vbo = 0;
-
     // единый атлас для всех глифов
     std::shared_ptr<Texture> atlasTexture;
     size_t atlasWidth = 0;

src/utils/Perlin.cpp

@@ -1,73 +0,0 @@
-#include "Perlin.h"
-#include <cmath>
-#include <numeric>
-#include <random>
-#include <algorithm>
-
-namespace ZL {
-
-    PerlinNoise::PerlinNoise() {
-        p.resize(256);
-        std::iota(p.begin(), p.end(), 0);
-        // Перемешиваем для случайности (можно задать seed)
-        std::default_random_engine engine(77777);
-        std::shuffle(p.begin(), p.end(), engine);
-        p.insert(p.end(), p.begin(), p.end()); // Дублируем для переполнения
-    }
-
-    PerlinNoise::PerlinNoise(uint64_t seed) {
-        p.resize(256);
-        std::iota(p.begin(), p.end(), 0);
-        // Перемешиваем для случайности (используем переданный seed)
-        std::default_random_engine engine(static_cast<unsigned int>(seed));
-        std::shuffle(p.begin(), p.end(), engine);
-        p.insert(p.end(), p.begin(), p.end()); // Дублируем для переполнения
-    }
-
-    float PerlinNoise::fade(float t) { return t * t * t * (t * (t * 6 - 15) + 10); }
-
-    float PerlinNoise::lerp(float t, float a, float b) { return a + t * (b - a); }
-
-    float PerlinNoise::grad(int hash, float x, float y, float z) {
-        int h = hash & 15;
-        float u = h < 8 ? x : y;
-        float v = h < 4 ? y : (h == 12 || h == 14 ? x : z);
-        return ((h & 1) == 0 ? u : -u) + ((h & 2) == 0 ? v : -v);
-    }
-
-    float PerlinNoise::noise(float x, float y, float z) {
-        int X = (int)floor(x) & 255;
-        int Y = (int)floor(y) & 255;
-        int Z = (int)floor(z) & 255;
-
-        x -= floor(x);
-        y -= floor(y);
-        z -= floor(z);
-
-        float u = fade(x);
-        float v = fade(y);
-        float w = fade(z);
-
-        int A = p[X] + Y, AA = p[A] + Z, AB = p[A + 1] + Z;
-        int B = p[X + 1] + Y, BA = p[B] + Z, BB = p[B + 1] + Z;
-
-        return lerp(w, lerp(v, lerp(u, grad(p[AA], x, y, z), grad(p[BA], x - 1, y, z)),
-            lerp(u, grad(p[AB], x, y - 1, z), grad(p[BB], x - 1, y - 1, z))),
-            lerp(v, lerp(u, grad(p[AA + 1], x, y, z - 1), grad(p[BA + 1], x - 1, y, z - 1)),
-                lerp(u, grad(p[AB + 1], x, y - 1, z - 1), grad(p[BB + 1], x - 1, y - 1, z - 1))));
-    }
-
-    float PerlinNoise::getSurfaceHeight(Eigen::Vector3f pos, float noiseCoeff) {
-        // Частота шума (чем больше, тем больше "холмов")
-        float frequency = 7.0f;
-
-        // Получаем значение шума (обычно от -1 до 1)
-        float noiseValue = noise(pos(0) * frequency, pos(1) * frequency, pos(2) * frequency);
-
-        // Масштабируем: хотим отклонение от 1.0 до 1.1 (примерно)
-        float height = 1.0f + (noiseValue * noiseCoeff);
-
-        return height;
-    }
-
-} // namespace ZL

src/utils/Perlin.h

@@ -1,24 +0,0 @@
-#pragma once
-
-#include <vector>
-#include <cstdint>
-#include <Eigen/Dense>
-
-namespace ZL {
-
-    class PerlinNoise {
-        std::vector<int> p;
-    public:
-        PerlinNoise();
-        PerlinNoise(uint64_t seed);
-
-        float fade(float t);
-        float lerp(float t, float a, float b);
-        float grad(int hash, float x, float y, float z);
-
-        float noise(float x, float y, float z);
-
-        float getSurfaceHeight(Eigen::Vector3f pos, float noiseCoeff);
-    };
-
-} // namespace ZL