feat: stage 2 collision, TileChangedEvent, path invalidation, rabbit digging

- Stage 2 collision: convoy skip when entities move same direction (dot>0.7),
  E/S yield rule for crossings, W/N right-of-way, head-on unchanged
- TileChangedEvent (Message) + PathfindingDirtyChunks (Resource) in new tile_changed module
- collect_pathfinding_dirty_chunks / invalidate_paths_on_tile_change /
  clear_pathfinding_dirty_chunks in PathfindingPlugin FixedUpdate chain
- TileMap::remove_floor clears HashMap + ChunkData bitsets + tile_ids
- RabbitDigTimer component: rabbits dig floor below every 5s, fires TileChangedEvent
  and TileOcclusionEvent for path invalidation + rendering

config.toml

@@ -1,9 +1,9 @@
-initial_chunk_radius = 8
+initial_chunk_radius = 5
 
 [display]
 vsync = "mailbox"
 
 [spawn_counts]
-dorfs = 5
+dorfs = 50
 pigs = 5
 rabbits = 5

src/entities/livestock/rabbit.rs

@@ -1,19 +1,44 @@
 use crate::config::GameConfig;
+use crate::constants::ITILE_SIZE;
 use crate::constants::TILE_SIZE;
 use crate::constants::*;
 use crate::entities::shared_components::Ambulatory;
 use crate::game::SpawnDelay;
+use crate::world::tiles::visibility::TileOcclusionEvent;
+use crate::world::tiles::{TileChangedEvent, TileMap};
 use crate::world::VisibleGameEntity;
 use bevy::prelude::*;
 use bevy_rand::prelude::*;
 use rand::RngExt;
 
+/// How often (in seconds) a rabbit digs.
+/// 5 seconds at normal speed — slow enough to observe, fast enough to test.
+pub const DIG_INTERVAL_SECS: f32 = 5.0;
+
+/// Tracks time until next dig action. Debug component — rabbits dig to demonstrate
+/// the TileChangedEvent + path invalidation pipeline. Remove or replace when
+/// real digging mechanics are implemented.
+#[derive(Component)]
+pub struct RabbitDigTimer {
+    /// Seconds remaining until next dig. Reset to DIG_INTERVAL_SECS after each dig.
+    pub secs_remaining: f32,
+}
+
+impl Default for RabbitDigTimer {
+    fn default() -> Self {
+        Self {
+            secs_remaining: DIG_INTERVAL_SECS,
+        }
+    }
+}
+
 #[derive(Bundle)]
 pub struct Rabbit {
     ambulatory: Ambulatory,
     sprite: Sprite,
     transform: Transform,
     visibility: Visibility,
+    dig_timer: RabbitDigTimer,
 }
 
 impl Rabbit {
@@ -36,6 +61,7 @@ impl Rabbit {
             },
             transform: Transform::from_translation(position).with_scale(Vec3::splat(PIXEL_RATIO)),
             visibility: Visibility::Hidden,
+            dig_timer: RabbitDigTimer::default(),
         }
     }
 }
@@ -77,3 +103,34 @@ pub fn spawn_rabbits(
         }
     }
 }
+
+/// Debug system: rabbits periodically dig the floor tile beneath them.
+///
+/// Removes the FloorTileData at the tile directly below the rabbit's current
+/// z-level. Also clears the corresponding ChunkData bits via TileMap::remove_floor.
+/// Fires TileChangedEvent so path invalidation reacts automatically.
+pub fn rabbit_dig_system(
+    mut query: Query<(&Transform, &mut RabbitDigTimer)>,
+    mut tilemap: ResMut<TileMap>,
+    mut tile_changed: MessageWriter<TileChangedEvent>,
+    mut occlusion: MessageWriter<TileOcclusionEvent>,
+    time: Res<Time>,
+) {
+    for (transform, mut dig_timer) in query.iter_mut() {
+        dig_timer.secs_remaining -= time.delta_secs();
+        if dig_timer.secs_remaining > 0.0 {
+            continue;
+        }
+        dig_timer.secs_remaining = DIG_INTERVAL_SECS;
+
+        let entity_pos = transform.translation.as_ivec3();
+        let below_pos = IVec3::new(entity_pos.x, entity_pos.y, entity_pos.z - ITILE_SIZE);
+
+        if tilemap.remove_floor(&below_pos).is_some() {
+            tile_changed.write(TileChangedEvent { pos: below_pos });
+            occlusion.write(TileOcclusionEvent {
+                tile_position: below_pos,
+            });
+        }
+    }
+}

src/entities/shared_systems/pathfinding.rs

@@ -64,6 +64,7 @@ use crate::constants::{
     PATHFINDER_PROVISIONAL_NODE_LIMIT, PIXEL_RATIO, TILE_SIZE,
 };
 use crate::entities::shared_systems::occupancy::{rebuild_tile_occupancy, TileOccupancy};
+use crate::world::tiles::tile_changed::{PathfindingDirtyChunks, TileChangedEvent};
 use crate::world::tiles::TileMap;
 use crate::world::{
     chunks::CHUNK_SIZE,
@@ -217,10 +218,13 @@ impl Plugin for PathfindingPlugin {
             .insert_resource(crate::entities::shared_components::PathRequestCounter::default())
             .insert_resource(PathRequestQueue::default())
             .init_resource::<TileOccupancy>()
+            .insert_resource(PathfindingDirtyChunks::default())
             .add_systems(
                 FixedUpdate,
                 (
                     rebuild_tile_occupancy,
+                    collect_pathfinding_dirty_chunks,
+                    invalidate_paths_on_tile_change,
                     prepare_paths,
                     update_wandering_targets,
                     movement,
@@ -233,12 +237,58 @@ impl Plugin for PathfindingPlugin {
                     merge_benchmark_stats,
                     process_completed_paths,
                     process_path_queue,
+                    clear_pathfinding_dirty_chunks,
                 ),
             )
             .add_systems(Update, bench_report_system);
     }
 }
 
+/// Collects chunk positions from TileChangedEvents into PathfindingDirtyChunks.
+/// Runs once per frame, O(events). HashSet deduplicates — many tile changes
+/// in the same chunk produce one entry.
+pub fn collect_pathfinding_dirty_chunks(
+    mut events: MessageReader<TileChangedEvent>,
+    mut dirty: ResMut<PathfindingDirtyChunks>,
+) {
+    for event in events.read() {
+        let chunk_pos = world_to_chunk(event.pos);
+        dirty.chunks.insert(chunk_pos);
+    }
+}
+
+/// Clears paths for entities whose upcoming steps pass through a changed chunk.
+/// Checks only the next 8 steps (not the full path) for performance.
+/// O(entities × 8) regardless of how many tiles changed.
+/// Only runs when dirty chunks exist, which is rare in normal gameplay.
+pub fn invalidate_paths_on_tile_change(
+    dirty: Res<PathfindingDirtyChunks>,
+    mut query: Query<&mut Ambulatory>,
+) {
+    if dirty.chunks.is_empty() {
+        return;
+    }
+    for mut ambulatory in query.iter_mut() {
+        let Some(ref path) = ambulatory.current_path else {
+            continue;
+        };
+        let check_end = (ambulatory.path_index + 8).min(path.len());
+        let affected = path[ambulatory.path_index..check_end]
+            .iter()
+            .any(|p| dirty.chunks.contains(&world_to_chunk(p.as_ivec3())));
+        if affected {
+            ambulatory.current_path = None;
+            // Keep target — entity will recompute path to same destination
+        }
+    }
+}
+
+/// Clears PathfindingDirtyChunks at the end of the frame.
+/// Must run AFTER invalidate_paths_on_tile_change.
+pub fn clear_pathfinding_dirty_chunks(mut dirty: ResMut<PathfindingDirtyChunks>) {
+    dirty.chunks.clear();
+}
+
 pub fn prepare_paths(
     mut commands: Commands,
     mut queue: ResMut<PathRequestQueue>,
@@ -606,8 +656,29 @@ pub fn movement(
                     let advance_path: bool;
 
                     let move_dir = next_point - transform.translation;
-                    if occupied && move_dir.length_squared() > 0.0 {
+                    let our_dir = Vec2::new(move_dir.x, move_dir.y).normalize();
-                        let forward_2d = Vec2::new(move_dir.x, move_dir.y).normalize();
+                    let their_dir = if occupied {
+                        occupancy.direction_at(next_point)
+                    } else {
+                        Vec2::ZERO
+                    };
+
+                    // Case 1: Convoy — same direction, treat as unoccupied
+                    let convoy =
+                        occupied && their_dir != Vec2::ZERO && their_dir.dot(our_dir) > 0.7;
+
+                    // Case 2: Head-on (directly opposite directions)
+                    let head_on = their_dir != Vec2::ZERO && their_dir.dot(our_dir) < -0.7;
+
+                    let we_are_es = our_dir.x > 0.3 || our_dir.y < -0.3;
+
+                    if !occupied || convoy {
+                        // Normal movement
+                        actual_move = next_point;
+                        advance_path = true;
+                    } else if occupied && head_on {
+                        // Both yield left — existing sidestep chain
+                        let forward_2d = our_dir;
                         let left_2d = Vec2::new(-forward_2d.y, forward_2d.x);
                         let right_2d = Vec2::new(forward_2d.y, -forward_2d.x);
                         let cur_z = transform.translation.z;
@@ -664,18 +735,98 @@ pub fn movement(
                             advance_path = true;
                             let tile_weight =
                                 get_tile_weight(&tilemap, transform.translation.as_ivec3());
-                            let threshold = if ambulatory.walk_speed > 0. {
+                            let excuse_threshold = if ambulatory.walk_speed > 0. {
                                 (ambulatory.walk_speed as i32 * tile_weight as i32 / 50) as u32
                             } else {
                                 0
                             };
                             if ambulatory.step_recovery == 0 {
-                                ambulatory.step_recovery = threshold;
+                                ambulatory.step_recovery = excuse_threshold;
+                            }
+                        }
+                    } else if occupied && we_are_es {
+                        // We yield — sidestep chain first, then excuse-me
+                        let forward_2d = our_dir;
+                        let left_2d = Vec2::new(-forward_2d.y, forward_2d.x);
+                        let right_2d = Vec2::new(forward_2d.y, -forward_2d.x);
+                        let cur_z = transform.translation.z;
+
+                        let candidates = [
+                            snap_to_grid(
+                                transform.translation
+                                    + Vec3::new(
+                                        (left_2d.x + forward_2d.x).signum() * TILE_SIZE,
+                                        (left_2d.y + forward_2d.y).signum() * TILE_SIZE,
+                                        0.0,
+                                    ),
+                                cur_z,
+                                TILE_SIZE,
+                            ),
+                            snap_to_grid(
+                                transform.translation
+                                    + Vec3::new(left_2d.x * TILE_SIZE, left_2d.y * TILE_SIZE, 0.0),
+                                cur_z,
+                                TILE_SIZE,
+                            ),
+                            snap_to_grid(
+                                transform.translation
+                                    + Vec3::new(
+                                        (right_2d.x + forward_2d.x).signum() * TILE_SIZE,
+                                        (right_2d.y + forward_2d.y).signum() * TILE_SIZE,
+                                        0.0,
+                                    ),
+                                cur_z,
+                                TILE_SIZE,
+                            ),
+                            snap_to_grid(
+                                transform.translation
+                                    + Vec3::new(
+                                        right_2d.x * TILE_SIZE,
+                                        right_2d.y * TILE_SIZE,
+                                        0.0,
+                                    ),
+                                cur_z,
+                                TILE_SIZE,
+                            ),
+                        ];
+
+                        let sidestep = candidates.iter().copied().find(|&c| {
+                            tilemap.is_standable(c.as_ivec3())
+                                && occupancy.count_at(c) <= current_count
+                        });
+
+                        if let Some(step) = sidestep {
+                            actual_move = step;
+                            advance_path = false;
+                        } else {
+                            // excuse-me: push through with delay
+                            actual_move = next_point;
+                            advance_path = true;
+                            let tile_weight =
+                                get_tile_weight(&tilemap, transform.translation.as_ivec3());
+                            let excuse_threshold = if ambulatory.walk_speed > 0. {
+                                (ambulatory.walk_speed as i32 * tile_weight as i32 / 50) as u32
+                            } else {
+                                0
+                            };
+                            if ambulatory.step_recovery == 0 {
+                                ambulatory.step_recovery = excuse_threshold;
                             }
                         }
                     } else {
+                        // occupied && we_are_wn — right of way, advance with excuse-me delay
                         actual_move = next_point;
                         advance_path = true;
+                        let tile_weight =
+                            get_tile_weight(&tilemap, transform.translation.as_ivec3());
+                        let excuse_threshold = if ambulatory.walk_speed > 0. {
+                            (ambulatory.walk_speed as i32 * tile_weight as i32 / 50) as u32
+                        } else {
+                            0
+                        };
+                        if ambulatory.step_recovery == 0 {
+                            ambulatory.step_recovery = excuse_threshold;
+                        }
                     }
 
                     let direction = (actual_move - transform.translation).normalize_or_zero();

src/main.rs

@@ -59,6 +59,7 @@ fn main() {
                 entities::sentient::dorf::spawn_dorfs,
                 entities::livestock::pig::spawn_pigs,
                 entities::livestock::rabbit::spawn_rabbits,
+                entities::livestock::rabbit::rabbit_dig_system,
             ),
         )
         .add_systems(Update, pig_drop_system)

src/world/mod.rs

@@ -48,6 +48,7 @@ impl Plugin for WorldPlugin {
             .add_message::<ChunkFoliageEvent>()
             .add_message::<ChunkFaunaEvent>()
             .add_message::<TileOcclusionEvent>()
+            .add_message::<tiles::TileChangedEvent>()
             .add_systems(Startup, (setup_chunk_system, setup_initial_chunks).chain())
             .add_systems(
                 FixedUpdate,

src/world/tiles/components.rs

@@ -1,44 +0,0 @@
-use bevy::prelude::*;
-
-#[derive(Component, Clone)]
-pub struct FloorTile {
-    pub id: u32,
-    pub opaque: bool,
-    pub walkable: bool,
-    pub astar_weight: u8,
-    pub visible_range: [u32; 8],
-}
-
-impl Default for FloorTile {
-    fn default() -> Self {
-        Self {
-            id: 0,
-            opaque: true,
-            walkable: true,
-            astar_weight: 0,
-            visible_range: [0; 8],
-        }
-    }
-}
-
-#[derive(Component, Clone)]
-pub struct FixtureTile {
-    pub id: u32,
-    pub solid: bool,
-    pub visible_range: [u32; 8],
-}
-
-impl Default for FixtureTile {
-    fn default() -> Self {
-        Self {
-            id: 0,
-            solid: true,
-            visible_range: [0; 8],
-        }
-    }
-}
-
-#[derive(Component)]
-pub struct TileState {
-    pub timer: Timer,
-}

src/world/tiles/mod.rs

@@ -1,12 +1,14 @@
 pub mod benchmark;
 pub mod chunk_data;
 pub mod rendering;
+pub mod tile_changed;
 pub mod tilemap;
 pub mod tilemap_chunk;
 pub mod visibility;
 
 pub use benchmark::*;
 pub use chunk_data::*;
+pub use tile_changed::*;
 pub use tilemap::*;
 pub use tilemap_chunk::*;
 pub use visibility::*;

src/world/tiles/tile_changed.rs

@@ -0,0 +1,17 @@
+//! Tile change events and pathfinding dirty chunk tracking.
+//!
+//! This module provides types for tracking tile modifications and
+//! invalidating pathfinding data when terrain changes.
+
+use bevy::prelude::*;
+use bevy_platform::collections::HashSet;
+
+#[derive(Message, Clone, Copy)]
+pub struct TileChangedEvent {
+    pub pos: IVec3,
+}
+
+#[derive(Resource, Default)]
+pub struct PathfindingDirtyChunks {
+    pub chunks: HashSet<IVec2>,
+}

src/world/tiles/tilemap.rs

@@ -198,6 +198,16 @@ impl TileMap {
         if let Some(chunk) = self.chunks.get_mut(&chunk_pos) {
             let (lx, ly, z) = ChunkData::world_to_local(pos);
             chunk.set_fixture_tile(lx, ly, z, tile.can_stand_in(), tile.can_stand_on());
+
+            // If fixture blocks entry, also clear the floor's stand_in bit at this position.
+            // Air floor tiles exist at above-ground positions — without this, air's
+            // can_stand_in=true would override the fixture block via the OR check.
+            if !tile.can_stand_in() {
+                let idx = ChunkData::pos_to_index(lx, ly, z);
+                let word = idx / 32;
+                let mask = !(1u32 << (idx % 32));
+                chunk.stand_in_floor[word] &= mask;
+            }
         }
         self.fixture_tiles.insert(pos, tile);
     }
@@ -260,6 +270,24 @@ impl TileMap {
         removed
     }
 
+    /// Remove a floor tile, clearing the HashMap entry, ChunkData bitsets, and tile_ids.
+    /// All three must be cleared — leaving ChunkData stale causes is_standable bugs,
+    /// and leaving tile_ids non-zero causes the renderer to keep drawing the tile.
+    pub fn remove_floor(&mut self, pos: &IVec3) -> Option<FloorTileData> {
+        let removed = self.floor_tiles.remove(pos);
+        let chunk_pos = world_to_chunk(*pos);
+        if let Some(chunk) = self.chunks.get_mut(&chunk_pos) {
+            let (lx, ly, z) = ChunkData::world_to_local(*pos);
+            let idx = ChunkData::pos_to_index(lx, ly, z);
+            let word = idx / 32;
+            let clear_mask = !(1u32 << (idx % 32));
+            chunk.stand_in_floor[word] &= clear_mask;
+            chunk.stand_on_floor[word] &= clear_mask;
+            chunk.tile_ids[idx] = 0;
+        }
+        removed
+    }
+
     /// Remove all tile data for a specific chunk from the TileMap.
     /// Iterates all positions in the chunk volume and removes from HashMaps.
     /// Used during chunk unloading to clean up tile data.