Hasebe/Assets/Code/OfficeGame/BattleMode/Actions/BattleActionMove.cs

using Code.Game.Gameplay.Player;
using Code.OfficeGame.BattleMode.Actions.Deciders;
using Code.OfficeGame.BattleMode.Timeline;
using KinematicCharacterController;
using UnityEngine;
using UnityEngine.AI;

namespace Code.OfficeGame.BattleMode.Actions
{
    public class BattleActionMove : BattleAction
    {
        private const float StoppingDistance = 0.15f;
        private const float RotateDistance = 1f;
        private const float NavMeshSampleRadius = 1.5f;
        private const float TurnSpeedDegPerSec = 720f; // Скорость вращения на месте (градусов/сек)

        private int MoveStateHash => Animator.StringToHash("WalkBlend");

        public override BattleActionType ActionType => BattleActionType.Move;
        public override DeciderType DeciderType => DeciderType.Position;

        public override BattleActionData MountAndGetFrames(EntityProperties entity, BattleActionDecisionResult result)
        {
            MovementBattleActionData data = new();
            var positionDecisionResult = (PositionBattleActionDeciderResult)result;

            Vector3 startPos = entity.KinematicCharacterMotor.TransientPosition;
            Vector3 targetPos = positionDecisionResult.Position;

            // 1. Проверяем дистанцию в плоскости XZ
            Vector3 toTargetXZ = targetPos - startPos;
            toTargetXZ.y = 0f;
            float distanceXZ = toTargetXZ.magnitude;

            // ЕСЛИ ВПЛОТНУЮ: отключаем перемещение, оставляем только поворот
            if (distanceXZ <= StoppingDistance)
            {
                data.IsRotateOnly = true;
                data.Corners = null;

                float angle = Quaternion.Angle(entity.KinematicCharacterMotor.TransientRotation, positionDecisionResult.Rotation);
                
                // Если персонаж уже смотрит в нужную сторону — 0 кадров
                if (angle < 1f)
                {
                    data.TotalFrames = 0;
                }
                else
                {
                    float stepPerFrame = TurnSpeedDegPerSec * BattleTimeline.TickDelta;
                    data.TotalFrames = Mathf.Max(2, Mathf.CeilToInt(angle / stepPerFrame));
                }

                return data;
            }

            // 2. ДВИЖЕНИЕ: проецируем точки строго на полигоны NavMesh
            bool hasStart = NavMesh.SamplePosition(startPos, out NavMeshHit startHit, NavMeshSampleRadius, NavMesh.AllAreas);
            bool hasTarget = NavMesh.SamplePosition(targetPos, out NavMeshHit targetHit, NavMeshSampleRadius, NavMesh.AllAreas);

            if (!hasStart || !hasTarget)
            {
                data.TotalFrames = 0;
                return data;
            }

            Vector3 validStart = startHit.position;
            Vector3 validTarget = targetHit.position;

            // 3. Прямая видимость: если препятствий нет, идём по идеальной прямой без квантования полигонов NavMesh
            if (!NavMesh.Raycast(validStart, validTarget, out _, NavMesh.AllAreas))
            {
                data.Corners = new[] { startPos, validTarget };
                data.CurrentCornerIndex = 1;
                data.TotalFrames = CalculatePathFrames(data.Corners, entity.MovementController);
                return data;
            }

            // 4. Обход препятствий: строим путь и отсекаем частичные обрубки (PathPartial)
            NavMeshPath path = new();
            if (NavMesh.CalculatePath(validStart, validTarget, NavMesh.AllAreas, path) 
                && path.status == NavMeshPathStatus.PathComplete 
                && path.corners.Length > 1)
            {
                // Привязываем нулевую и финальную точки к фактическим координатам
                path.corners[0] = startPos;
                path.corners[^1] = validTarget;

                data.Corners = path.corners;
                data.CurrentCornerIndex = 1;
                data.TotalFrames = CalculatePathFrames(data.Corners, entity.MovementController);
            }
            else
            {
                // Если NavMesh не смог построить полный путь (PathPartial/Invalid) — не даём ходить огрызками
                data.TotalFrames = 0;
            }

            return data;
        }

        public override void Tick(
            float tickDelta, 
            EntityProperties entity, 
            BattleActionDecisionResult battleActionDecisionResult, 
            BattleActionData battleActionData)
        {
            if (battleActionData is not MovementBattleActionData movementActionData 
               || battleActionDecisionResult is not PositionBattleActionDeciderResult positionDecisionResult)
            {
                battleActionData.Finished = true;
                return;
            }

            var movementController = entity.MovementController;

            // -------------------------------------------------------------
            // РЕЖИМ 1: ТОЛЬКО ПОВОРОТ НА МЕСТЕ (КОГДА ПОЗИЦИЯ ВПЛОТНУЮ)
            // -------------------------------------------------------------
            if (movementActionData.IsRotateOnly)
            {
                movementActionData.CurrentFrame++;

                float angle = Quaternion.Angle(movementController.Motor.TransientRotation, positionDecisionResult.Rotation);
                int framesLeft = Mathf.Max(1, movementActionData.TotalFrames - movementActionData.CurrentFrame + 1);
                float stepAngle = angle / framesLeft;

                Quaternion nextRot = Quaternion.RotateTowards(
                    movementController.Motor.TransientRotation,
                    positionDecisionResult.Rotation,
                    stepAngle
                );

                entity.KinematicCharacterMotor.SetRotation(nextRot);
                StopMovementAndFinish(movementController);

                KinematicCharacterSystem.Simulate(
                    tickDelta,
                    KinematicCharacterSystem.CharacterMotors,
                    KinematicCharacterSystem.PhysicsMovers
                );

                if (movementActionData.CurrentFrame >= movementActionData.TotalFrames || angle <= 0.5f)
                {
                    entity.KinematicCharacterMotor.SetRotation(positionDecisionResult.Rotation);
                    battleActionData.Finished = true;
                }

                return;
            }

            // -------------------------------------------------------------
            // РЕЖИМ 2: ПЕРЕДВИЖЕНИЕ ПО ПУТИ
            // -------------------------------------------------------------
            if (movementActionData.Corners == null || movementActionData.CurrentCornerIndex >= movementActionData.Corners.Length)
            {
                entity.KinematicCharacterMotor.SetRotation(positionDecisionResult.Rotation);
                StopMovementAndFinish(movementController);
                battleActionData.Finished = true;
                return;
            }

            if (!movementActionData.WasStarted)
            {
                movementActionData.WasStarted = true;
                float transitionDurationSeconds = 10 * BattleTimeline.TickDelta;
                entity.animator.CrossFadeInFixedTime(MoveStateHash, transitionDurationSeconds);
            }

            Vector3 currentPos = entity.KinematicCharacterMotor.TransientPosition;

            // Пропускаем пройденные углы
            while (movementActionData.CurrentCornerIndex < movementActionData.Corners.Length)
            {
                Vector3 toCorner = movementActionData.Corners[movementActionData.CurrentCornerIndex] - currentPos;
                toCorner.y = 0f;

                if (toCorner.sqrMagnitude <= StoppingDistance * StoppingDistance)
                    movementActionData.CurrentCornerIndex++;
                else
                    break;
            }

            // Если все точки пройдены до шага симуляции
            if (movementActionData.CurrentCornerIndex >= movementActionData.Corners.Length)
            {
                entity.KinematicCharacterMotor.SetRotation(positionDecisionResult.Rotation);
                StopMovementAndFinish(movementController);
                KinematicCharacterSystem.Simulate(
                    tickDelta,
                    KinematicCharacterSystem.CharacterMotors,
                    KinematicCharacterSystem.PhysicsMovers
                );

                battleActionData.Finished = true;
                return;
            }

            Vector3 targetCorner = movementActionData.Corners[movementActionData.CurrentCornerIndex];
            Vector3 moveDirection = targetCorner - currentPos;
            moveDirection.y = 0f;

            float distance = moveDirection.magnitude;
            Vector3 moveNormal = distance > 0.0001f ? moveDirection / distance : Vector3.zero;

            bool isLastCorner = movementActionData.CurrentCornerIndex == movementActionData.Corners.Length - 1;
            bool preLastPoint = isLastCorner && distance < RotateDistance;

            float maxStep = movementController.MaxStableMoveSpeed * tickDelta;

            float inputMagnitude = (isLastCorner && distance < maxStep && maxStep > 0f)
                ? distance / maxStep
                : 1f;

            Quaternion lookRotation = preLastPoint
                ? positionDecisionResult.Rotation
                : (moveNormal.sqrMagnitude > 0.0001f
                    ? Quaternion.LookRotation(moveNormal, movementController.Motor.CharacterUp)
                    : movementController.Motor.TransientRotation);

            var aiInputs = new AICharacterInputs
            {
                MoveVector = moveNormal * inputMagnitude,
                Look = lookRotation
            };

            movementController.SetInputs(ref aiInputs);

            KinematicCharacterSystem.Simulate(
                tickDelta,
                KinematicCharacterSystem.CharacterMotors,
                KinematicCharacterSystem.PhysicsMovers
            );

            // Проверка достижения конечной точки после физического тика
            Vector3 postMovePos = movementController.Motor.TransientPosition;
            Vector3 toFinal = movementActionData.Corners[^1] - postMovePos;
            toFinal.y = 0f;

            if (isLastCorner && toFinal.sqrMagnitude <= StoppingDistance * StoppingDistance)
            {
                entity.KinematicCharacterMotor.SetRotation(positionDecisionResult.Rotation);
                StopMovementAndFinish(movementController);
                battleActionData.Finished = true;
            }
        }

        private void StopMovementAndFinish(MovementController movementController)
        {
            var emptyInputs = new AICharacterInputs
            {
                MoveVector = Vector3.zero,
                Look = movementController.Motor.TransientRotation
            };
            movementController.SetInputs(ref emptyInputs);
            movementController.Motor.BaseVelocity = Vector3.zero;
        }

        private int CalculatePathFrames(Vector3[] corners, MovementController movementController)
        {
            if (corners == null || corners.Length < 2) 
                return 0;

            float totalDistanceXZ = 0f;

            for (int i = 1; i < corners.Length; i++)
            {
                Vector3 segment = corners[i] - corners[i - 1];
                segment.y = 0f;
                totalDistanceXZ += segment.magnitude;
            }

            float effectiveDistance = Mathf.Max(0f, totalDistanceXZ - StoppingDistance);
            float stepPerFrame = movementController.MaxStableMoveSpeed * BattleTimeline.TickDelta;

            if (stepPerFrame <= 0.0001f) 
                return 0;

            return Mathf.Max(1, Mathf.CeilToInt(effectiveDistance / stepPerFrame));
        }
    }
}