// 발주서 WL-813t4 — 보스 아레나 평지 후보 실측 (에디트 모드 · Play 0)
//
// 실행 (CLAUDE.md §1: using 금지 · 네임스페이스 풀어 쓰기)
//   unity command --project-path E:\NerdNavis\WL_wt\systems run_script --file AgentScripts/WL813t4_Measure.cs --entry WL813t4_Measure.Arena --timeout 1800
//
// 평가 항목(발주서 §1-1)
//   ① 반경 20 m 평탄도 — 지면 Δy · 최대경사 · 30° 초과 점수
//   ② NavMesh 커버(격자 ≥ 300점 중 몇 점이 NavMesh 위인가)
//   ③ 연결성 — Portal_Start → 중심 PathComplete · 원주 12점 → 중심 ≥ 10/12 · 존1~4 스포너 → 중심
//   ④ 813t2 y 컷 — 반경 20 m NavMesh 최고 y ≤ 2.96
//   ⑤ 반경 20 m 안 물 렌더러 · 큰 바위 수
//   ⑥ 스테이지 배치 산포(황금각) 슬롯이 전부 NavMesh 로 해결되는가
//
// 🔴 임시 씬을 만들어 프리팹을 인스턴스화한다(저장 0). NavMesh 자산은 AddNavMeshData 로 잠깐 올렸다 내린다.

public static class WL813t4_Measure
{
    const string kMapPrefab = "Assets/Res_Addr/Map/WL_Nature.prefab";
    const string kNavAsset  = "Assets/WL/Settings/WL_Nature_NavMesh.asset";
    const string kOut       = "AgentScripts/WL813t4_MEASURE.txt";

    const float kRadius = 20f;      // 아레나 반경
    const float kStep   = 2f;       // 격자 간격 → 반경 20 m 안 317점
    const float kYCut   = 2.96f;    // 813t2 · 813t3 실측 walkable 최고 y

    static System.Text.StringBuilder s;
    static void L(string t) { s.AppendLine(t); UnityEngine.Debug.Log("[WL813t4] " + t); }

    static string Abs(string rel)
    {
        return System.IO.Path.Combine(System.IO.Directory.GetCurrentDirectory(),
            rel.Replace('/', System.IO.Path.DirectorySeparatorChar));
    }

    static string Flush()
    {
        try { System.IO.File.WriteAllText(Abs(kOut), s.ToString(), new System.Text.UTF8Encoding(true)); }
        catch (System.Exception e) { UnityEngine.Debug.LogWarning("[WL813t4] 로그 저장 실패: " + e.Message); }
        return s.ToString();
    }

    // ─────────────────────────────────────────────────────────────────────────
    public static string Arena()
    {
        s = new System.Text.StringBuilder();
        s_rows.Clear();
        L("===== WL-813t4 아레나 평지 실측 · " + System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + " =====");

        UnityEditor.AssetDatabase.ImportAsset(kNavAsset, UnityEditor.ImportAssetOptions.ForceUpdate);
        var data = UnityEditor.AssetDatabase.LoadAssetAtPath<UnityEngine.AI.NavMeshData>(kNavAsset);
        if (data == null) { L("[에러] NavMesh 자산 로드 실패"); return Flush(); }
        long bytes = 0; try { bytes = new System.IO.FileInfo(Abs(kNavAsset)).Length; } catch { }
        var bs = UnityEngine.AI.NavMesh.GetSettingsByID(0);
        L("NavMesh " + bytes + " B · Agent0 slope " + bs.agentSlope + " · climb " + bs.agentClimb + " · voxel " + bs.voxelSize.ToString("F5"));

        var cfg = UnityEngine.Resources.Load<WL.Combat.Boss.WLBossArenaSettings>("WL/WLBossArenaSettings");
        var tbl = UnityEngine.Resources.Load<WL.Combat.Stage.WLStageTable>("WL/WLStageTable");
        var tg  = UnityEngine.Resources.Load<WL.Combat.Nav.WLTerrainGuardSettings>("WL/WLTerrainGuardSettings");
        L("현재 SO — arenaCenter " + (cfg != null ? cfg.arenaCenter.ToString("F2") : "?")
          + " · useFieldBossPositionAsCenter " + (cfg != null ? (cfg.useFieldBossPositionAsCenter ? "1" : "0") : "?")
          + " · arenaRadius " + (cfg != null ? cfg.arenaRadius.ToString("F0") : "?")
          + " · maxWalkableY " + (tg != null ? tg.maxWalkableY.ToString("F2") : "?"));
        if (tbl != null)
        {
            var d5 = tbl.Get(4); var d10 = tbl.Get(9);
            L("현재 표 — 스테이지5 앵커 " + (d5 != null ? d5.anchor.ToString("F2") + " r" + d5.barrierRadius.ToString("F0") : "?")
              + " · 스테이지10 앵커 " + (d10 != null ? d10.anchor.ToString("F2") + " r" + d10.barrierRadius.ToString("F0") : "?"));
        }

        var prefab = UnityEditor.AssetDatabase.LoadAssetAtPath<UnityEngine.GameObject>(kMapPrefab);
        if (prefab == null) { L("[에러] 프리팹 로드 실패"); return Flush(); }

        UnityEditor.SceneManagement.EditorSceneManager.NewScene(
            UnityEditor.SceneManagement.NewSceneSetup.EmptyScene, UnityEditor.SceneManagement.NewSceneMode.Single);
        var go = UnityEditor.PrefabUtility.InstantiatePrefab(prefab) as UnityEngine.GameObject;
        if (go == null) { L("[에러] 인스턴스화 실패"); return Flush(); }
        UnityEngine.Physics.SyncTransforms();

        var inst = UnityEngine.AI.NavMesh.AddNavMeshData(data);
        try
        {
            var cands = new System.Collections.Generic.List<UnityEngine.Vector3>();
            if (s_explicit != null && s_explicit.Count > 0) cands.AddRange(s_explicit);
            else
            {
                cands.Add(new UnityEngine.Vector3(179f, 0.01f, 4f));                 // 813t3 실측 최적지(1순위)
                cands.Add(new UnityEngine.Vector3(139f, 0.8f, -20f));                // 현재 아레나(대조)

                // 차선 후보 2곳 — 813t3 WideFlatSearch 와 같은 잣대로 다시 훑어 1순위 다음 2개를 뽑는다
                var wide = WideSearch();
                int added = 0;
                for (int i = 0; i < wide.Count && added < 2; i++)
                {
                    bool dup = false;
                    for (int j = 0; j < cands.Count; j++)
                        if (UnityEngine.Vector3.Distance(wide[i], cands[j]) < 12f) { dup = true; break; }
                    if (dup) continue;
                    cands.Add(wide[i]); added++;
                }
            }

            var start = ResolveStart(go);
            for (int i = 0; i < cands.Count; i++) Evaluate(go, cands[i], start, i);

            L("");
            L("── 요약 표 (반경 " + kRadius + " m · 격자 " + kStep + " m) ──");
            L("| 후보 | 지면 Δy | 최대경사 | 30°초과 | NavMesh 커버 | NavMesh y | y컷 " + kYCut + " 초과 | 시작→중심 | 원주12→중심 | 존→중심 | 물 | 큰바위 | 판정 |");
            for (int i = 0; i < s_rows.Count; i++) L(s_rows[i]);
        }
        finally
        {
            UnityEngine.AI.NavMesh.RemoveNavMeshData(inst);
            UnityEngine.Object.DestroyImmediate(go);
        }
        L("");
        L("===== 끝 =====");
        return Flush();
    }

    static System.Collections.Generic.List<string> s_rows = new System.Collections.Generic.List<string>();
    static System.Collections.Generic.List<UnityEngine.Vector3> s_explicit;

    /// <summary>결선 4곳 전수 평가(정밀 탐색 상위 + 813t3 최적지 + 현 아레나).</summary>
    public static string Final()
    {
        s_explicit = new System.Collections.Generic.List<UnityEngine.Vector3>();
        s_explicit.Add(new UnityEngine.Vector3(179f, 0.01f, 4f));      // 813t3 최적지 · 발주서 1순위
        s_explicit.Add(new UnityEngine.Vector3(183f, -0.07f, 16f));    // 정밀 탐색 3위(커버 316/317)
        s_explicit.Add(new UnityEngine.Vector3(185f, -0.18f, 14f));    // 정밀 탐색 1위(Δy 최소)
        s_explicit.Add(new UnityEngine.Vector3(139f, 0.8f, -20f));     // 현 아레나(대조)
        try { return Arena(); } finally { s_explicit = null; }
    }

    // ─────────────────────────────────────────────────────────────────────────
    static UnityEngine.Vector3 ResolveStart(UnityEngine.GameObject root)
    {
        var portal = FindByName(root.transform, "Portal_Start");
        var p = portal != null ? portal.position : new UnityEngine.Vector3(115f, 0f, 9.98f);
        L("");
        L("시작점 Portal_Start = " + p.ToString("F2") + (portal != null ? "" : " (씬에 없어 발주서 좌표 사용)"));
        return p;
    }

    /// <summary>후보 1곳 전수 평가.</summary>
    static void Evaluate(UnityEngine.GameObject root, UnityEngine.Vector3 want, UnityEngine.Vector3 start, int idx)
    {
        L("");
        L("──────── 후보 #" + (idx + 1) + " " + want.ToString("F2") + " ────────");

        UnityEngine.AI.NavMeshHit ch;
        if (!UnityEngine.AI.NavMesh.SamplePosition(want, out ch, 5f, UnityEngine.AI.NavMesh.AllAreas))
        {
            L("  🔴 NavMesh 밖(5 m) — 아레나 불가");
            s_rows.Add("| " + want.ToString("F2") + " | — | — | — | **NavMesh 밖** | — | — | — | — | — | — | — | 🔴 불가 |");
            return;
        }
        L("  NavMesh 스냅 " + ch.position.ToString("F2") + " · Δ" + UnityEngine.Vector3.Distance(want, ch.position).ToString("F2") + " m");

        // ① 평탄도 + ② NavMesh 커버 + ④ y 컷
        int n = 0, onMesh = 0, steep = 0, noGround = 0, aboveCut = 0;
        float gyMin = 1e9f, gyMax = -1e9f, myMin = 1e9f, myMax = -1e9f, slopeMax = 0f;
        double slopeSum = 0.0;
        int half = UnityEngine.Mathf.CeilToInt(kRadius / kStep);
        for (int a = -half; a <= half; a++)
            for (int b = -half; b <= half; b++)
            {
                float dx = a * kStep, dz = b * kStep;
                if (dx * dx + dz * dz > kRadius * kRadius) continue;
                n++;
                var p = new UnityEngine.Vector3(ch.position.x + dx, ch.position.y, ch.position.z + dz);
                UnityEngine.RaycastHit rh;
                if (UnityEngine.Physics.Raycast(new UnityEngine.Vector3(p.x, p.y + 80f, p.z), UnityEngine.Vector3.down, out rh, 240f))
                {
                    if (rh.point.y < gyMin) gyMin = rh.point.y;
                    if (rh.point.y > gyMax) gyMax = rh.point.y;
                    float ang = UnityEngine.Vector3.Angle(rh.normal, UnityEngine.Vector3.up);
                    slopeSum += ang; if (ang > slopeMax) slopeMax = ang;
                    if (ang > 30f)
                    {
                        steep++;
                        if (steep <= 6) L("     [30° 초과] " + rh.point.ToString("F2") + " · " + ang.ToString("F1")
                            + "° · 중심에서 " + UnityEngine.Mathf.Sqrt(dx * dx + dz * dz).ToString("F1")
                            + " m · " + (rh.collider != null ? FullName(rh.collider.transform) : "?"));
                    }
                }
                else noGround++;
                UnityEngine.AI.NavMeshHit h;
                if (UnityEngine.AI.NavMesh.SamplePosition(p, out h, 2f, UnityEngine.AI.NavMesh.AllAreas))
                {
                    onMesh++;
                    if (h.position.y < myMin) myMin = h.position.y;
                    if (h.position.y > myMax) myMax = h.position.y;
                    if (h.position.y > kYCut) aboveCut++;
                }
            }
        float span = (gyMax > -1e8f) ? (gyMax - gyMin) : 99f;
        L("  ① 평탄도 — 격자 " + n + "점 · 지면 y " + gyMin.ToString("F2") + " ~ " + gyMax.ToString("F2")
          + " (Δ " + span.ToString("F2") + " m) · 경사 평균 " + (n > noGround ? (slopeSum / (n - noGround)).ToString("F1") : "?")
          + "° 최대 " + slopeMax.ToString("F1") + "° · **30° 초과 " + steep + "/" + n + "** · 지면 없음 " + noGround);
        L("  ② NavMesh 커버 — **" + onMesh + "/" + n + "**(≥300 필요) · y " + (myMin > 1e8f ? "없음" : myMin.ToString("F2") + " ~ " + myMax.ToString("F2")));
        L("  ④ y 컷 " + kYCut + " 초과 NavMesh 점 — **" + aboveCut + "**");

        // ③ 연결성
        UnityEngine.AI.NavMeshHit sh;
        string startPath = "시작점 NavMesh 밖";
        if (UnityEngine.AI.NavMesh.SamplePosition(start, out sh, 5f, UnityEngine.AI.NavMesh.AllAreas))
        {
            var p1 = new UnityEngine.AI.NavMeshPath();
            UnityEngine.AI.NavMesh.CalculatePath(sh.position, ch.position, UnityEngine.AI.NavMesh.AllAreas, p1);
            startPath = p1.status.ToString();
        }
        int okr = 0, tried = 0;
        for (int i = 0; i < 12; i++)
        {
            float ang = i * UnityEngine.Mathf.PI * 2f / 12f;
            var rp = ch.position + new UnityEngine.Vector3(UnityEngine.Mathf.Cos(ang), 0f, UnityEngine.Mathf.Sin(ang)) * (kRadius * 0.8f);
            UnityEngine.AI.NavMeshHit rh2;
            if (!UnityEngine.AI.NavMesh.SamplePosition(rp, out rh2, 5f, UnityEngine.AI.NavMesh.AllAreas)) continue;
            tried++;
            var p3 = new UnityEngine.AI.NavMeshPath();
            UnityEngine.AI.NavMesh.CalculatePath(rh2.position, ch.position, UnityEngine.AI.NavMesh.AllAreas, p3);
            if (p3.status == UnityEngine.AI.NavMeshPathStatus.PathComplete) okr++;
        }
        L("  ③ 연결성 — 시작 " + start.ToString("F2") + " → 중심 **" + startPath + "** · 원주 12점(r " + (kRadius * 0.8f).ToString("F0") + ") → 중심 **" + okr + "/12**(NavMesh 위 " + tried + ")");

        // 존 1~4(존 스포너 813001~813004) + 전체 스포너
        var mgrs = root.GetComponentsInChildren<MobControlMgr>(true);
        int zoneOk = 0, zoneTot = 0; string zoneDetail = "";
        int allOk = 0, allTot = 0;
        for (int i = 0; i < mgrs.Length; i++)
        {
            var p = mgrs[i].transform.position;
            UnityEngine.AI.NavMeshHit h;
            if (!UnityEngine.AI.NavMesh.SamplePosition(p, out h, 5f, UnityEngine.AI.NavMesh.AllAreas)) continue;
            var path = new UnityEngine.AI.NavMeshPath();
            UnityEngine.AI.NavMesh.CalculatePath(h.position, ch.position, UnityEngine.AI.NavMesh.AllAreas, path);
            bool ok = path.status == UnityEngine.AI.NavMeshPathStatus.PathComplete;
            allTot++; if (ok) allOk++;
            int sid = mgrs[i].SpawnerID;
            if (sid >= 813001 && sid <= 813004)
            {
                zoneTot++; if (ok) zoneOk++;
                zoneDetail += " #" + sid + "=" + path.status;
            }
        }
        L("  ③ 존 스포너(813001~813004) → 중심 : **" + zoneOk + "/" + zoneTot + "**" + zoneDetail);
        L("  ③ 전체 스포너 " + allTot + "기 → 중심 PathComplete " + allOk);

        // ⑤ 물 · 큰 바위 — 바운즈 XZ 최근접점 거리로 판정(AABB 중심 거리 = 강처럼 긴 메시에서 오판)
        int water = 0, rocks = 0; string worst = "";
        float rockMax = 0f, waterNear = 1e9f;
        Overlap(root, ch.position, kRadius, ref water, ref rocks, ref worst, ref rockMax, ref waterNear, true);
        L("  ⑤ 반경 " + kRadius + " m 겹침(XZ 최근접) — 물 **" + water + "**(가장 가까운 물까지 " + waterNear.ToString("F1")
          + " m) · 큰 바위(최대변 ≥3 m) **" + rocks + "**" + (rocks > 0 ? " · 최대 " + worst : ""));

        // ⑥ 스테이지 배치 산포 슬롯(황금각 · 스테이지 10 = 15마리 기준) NavMesh 해결률
        int slots = 15, slotOk = 0;
        float rMax = kRadius * 0.7f;
        for (int slot = 0; slot < slots; slot++)
        {
            float ang = slot * 2.399963f;
            float rad = rMax * UnityEngine.Mathf.Sqrt((slot + 0.5f) / slots);
            var p = ch.position + new UnityEngine.Vector3(UnityEngine.Mathf.Cos(ang) * rad, 0f, UnityEngine.Mathf.Sin(ang) * rad);
            UnityEngine.AI.NavMeshHit h;
            if (UnityEngine.AI.NavMesh.SamplePosition(p, out h, 4f, UnityEngine.AI.NavMesh.AllAreas) && h.position.y <= kYCut) slotOk++;
        }
        L("  ⑥ 배치 산포 슬롯 15개(황금각 · r " + rMax.ToString("F1") + ") NavMesh+y컷 해결 **" + slotOk + "/15**");

        bool pass = steep == 0 && onMesh >= 300 && startPath == "PathComplete" && okr >= 10
                    && aboveCut == 0 && water == 0 && rocks == 0 && zoneOk == zoneTot && zoneTot > 0;
        L("  ▶ 판정 = " + (pass ? "PASS" : "미달") + " (평탄 30°초과 " + steep + " · 커버 " + onMesh + " · 시작 " + startPath
          + " · 원주 " + okr + "/12 · y컷초과 " + aboveCut + " · 물 " + water + " · 존 " + zoneOk + "/" + zoneTot + ")");

        s_rows.Add("| " + want.ToString("F2") + " | " + span.ToString("F2") + " m | " + slopeMax.ToString("F1") + "° | "
                   + steep + "/" + n + " | " + onMesh + "/" + n + " | " + (myMin > 1e8f ? "—" : myMin.ToString("F2") + "~" + myMax.ToString("F2"))
                   + " | " + aboveCut + " | " + startPath + " | " + okr + "/12 | " + zoneOk + "/" + zoneTot + " | " + water + " | " + rocks
                   + " | " + (pass ? "**PASS**" : "미달") + " |");
    }

    /// <summary>813t3 WideFlatSearch 와 같은 잣대(±60 m · 4 m 격자 · 반경 20 m 전체 평가) 상위 후보 좌표.</summary>
    static System.Collections.Generic.List<UnityEngine.Vector3> WideSearch()
    {
        L("");
        L("── 차선 후보 탐색 (813t3 WL813t3_Measure.WideFlatSearch 잣대 재사용 · ±60 m · 4 m 격자) ──");
        var list = new System.Collections.Generic.List<Cand>();
        for (int i = -15; i <= 15; i++)
            for (int j = -15; j <= 15; j++)
            {
                var c = new UnityEngine.Vector3(139f + i * 4f, 0.8f, -20f + j * 4f);
                UnityEngine.AI.NavMeshHit ch;
                if (!UnityEngine.AI.NavMesh.SamplePosition(c, out ch, 2f, UnityEngine.AI.NavMesh.AllAreas)) continue;
                int n = 0, on = 0, steep = 0; float ymin = 1e9f, ymax = -1e9f, smax = 0f;
                for (int a = -5; a <= 5; a++)
                    for (int b = -5; b <= 5; b++)
                    {
                        float dx = a * 4f, dz = b * 4f;
                        if (dx * dx + dz * dz > 400f) continue;
                        n++;
                        var p = new UnityEngine.Vector3(ch.position.x + dx, ch.position.y, ch.position.z + dz);
                        UnityEngine.RaycastHit rh;
                        if (UnityEngine.Physics.Raycast(new UnityEngine.Vector3(p.x, p.y + 80f, p.z), UnityEngine.Vector3.down, out rh, 240f))
                        {
                            if (rh.point.y < ymin) ymin = rh.point.y;
                            if (rh.point.y > ymax) ymax = rh.point.y;
                            float ang = UnityEngine.Vector3.Angle(rh.normal, UnityEngine.Vector3.up);
                            if (ang > smax) smax = ang;
                            if (ang > 30f) steep++;
                        }
                        UnityEngine.AI.NavMeshHit h2;
                        if (UnityEngine.AI.NavMesh.SamplePosition(p, out h2, 2f, UnityEngine.AI.NavMesh.AllAreas)) on++;
                    }
                if (n == 0 || on < n * 0.9f) continue;
                float span = (ymax > -1e8f) ? (ymax - ymin) : 99f;
                list.Add(new Cand { p = ch.position, span = span, smax = smax, steep = steep, n = n, on = on });
            }
        list.Sort(delegate (Cand a, Cand b) { return (a.span * 2f + a.steep).CompareTo(b.span * 2f + b.steep); });
        L("  후보(NavMesh 90 % 이상) " + list.Count + "개 · 상위 6");
        var outp = new System.Collections.Generic.List<UnityEngine.Vector3>();
        for (int i = 0; i < list.Count && i < 6; i++)
        {
            var c = list[i];
            L("   " + (i + 1) + ") " + c.p.ToString("F2") + " · 지면 Δy " + c.span.ToString("F2") + " m · 최대경사 " + c.smax.ToString("F1")
              + "° · 30° 초과 " + c.steep + "/" + c.n + " · NavMesh " + c.on + "/" + c.n
              + " · 현 아레나에서 " + UnityEngine.Vector3.Distance(c.p, new UnityEngine.Vector3(139f, 0.8f, -20f)).ToString("F1") + " m");
            outp.Add(c.p);
        }
        return outp;
    }

    struct Cand { public UnityEngine.Vector3 p; public float span, smax; public int steep, n, on; }

    // ─────────────────────────────────────────────────────────────────────────
    //  겹침 판정 — 렌더러 바운즈의 XZ 최근접점 거리 (강처럼 긴 메시의 오판을 없앤다)
    // ─────────────────────────────────────────────────────────────────────────
    static void Overlap(UnityEngine.GameObject root, UnityEngine.Vector3 c, float r,
                        ref int water, ref int rocks, ref string worst, ref float rockMax, ref float waterNear, bool verbose)
    {
        var rends = root.GetComponentsInChildren<UnityEngine.Renderer>(true);
        for (int i = 0; i < rends.Length; i++)
        {
            var rd = rends[i];
            if (rd == null || !rd.enabled) continue;
            var b = rd.bounds;
            float cx = UnityEngine.Mathf.Clamp(c.x, b.min.x, b.max.x);
            float cz = UnityEngine.Mathf.Clamp(c.z, b.min.z, b.max.z);
            float d = UnityEngine.Mathf.Sqrt((cx - c.x) * (cx - c.x) + (cz - c.z) * (cz - c.z));
            string nm = FullName(rd.transform);
            bool isWater = nm.IndexOf("water", System.StringComparison.OrdinalIgnoreCase) >= 0
                        || nm.IndexOf("river", System.StringComparison.OrdinalIgnoreCase) >= 0
                        || nm.IndexOf("lake", System.StringComparison.OrdinalIgnoreCase) >= 0;
            if (isWater) { if (d < waterNear) waterNear = d; if (d <= r) { water++; if (verbose && water <= 3) L("     [물] " + nm + " XZ 거리 " + d.ToString("F1") + " m · 바운즈 " + b.center.ToString("F1") + " 크기 " + b.size.ToString("F1")); } continue; }
            if (d > r) continue;
            bool isRock = nm.IndexOf("rock", System.StringComparison.OrdinalIgnoreCase) >= 0
                       || nm.IndexOf("stone", System.StringComparison.OrdinalIgnoreCase) >= 0
                       || nm.IndexOf("cliff", System.StringComparison.OrdinalIgnoreCase) >= 0;
            if (!isRock) continue;
            float big = UnityEngine.Mathf.Max(b.size.x, UnityEngine.Mathf.Max(b.size.y, b.size.z));
            if (big < 3f) continue;
            rocks++;
            if (verbose && rocks <= 4) L("     [큰 바위] " + nm + " XZ 거리 " + d.ToString("F1") + " m · 중심 " + b.center.ToString("F1") + " 크기 " + b.size.ToString("F1"));
            if (big > rockMax) { rockMax = big; worst = nm + " " + b.center.ToString("F1") + " 크기 " + b.size.ToString("F1") + " · XZ " + d.ToString("F1") + " m"; }
        }
    }

    // ─────────────────────────────────────────────────────────────────────────
    //  Refine — (179, 0.01, 4) 둘레 ±12 m 를 2 m 격자로 훑어 「30° 초과 0 · 큰 바위 0 · NavMesh ≥300」 을 찾는다
    //  unity command run_script … --entry WL813t4_Measure.Refine
    // ─────────────────────────────────────────────────────────────────────────
    public static string Refine()
    {
        s = new System.Text.StringBuilder();
        L("===== WL-813t4 정밀 탐색 · " + System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + " =====");

        UnityEditor.AssetDatabase.ImportAsset(kNavAsset, UnityEditor.ImportAssetOptions.ForceUpdate);
        var data = UnityEditor.AssetDatabase.LoadAssetAtPath<UnityEngine.AI.NavMeshData>(kNavAsset);
        var prefab = UnityEditor.AssetDatabase.LoadAssetAtPath<UnityEngine.GameObject>(kMapPrefab);
        if (data == null || prefab == null) { L("[에러] 자산 로드 실패"); return Flush2(); }

        UnityEditor.SceneManagement.EditorSceneManager.NewScene(
            UnityEditor.SceneManagement.NewSceneSetup.EmptyScene, UnityEditor.SceneManagement.NewSceneMode.Single);
        var go = UnityEditor.PrefabUtility.InstantiatePrefab(prefab) as UnityEngine.GameObject;
        UnityEngine.Physics.SyncTransforms();
        var inst = UnityEngine.AI.NavMesh.AddNavMeshData(data);
        try
        {
            var baseP = new UnityEngine.Vector3(179f, 0.01f, 4f);
            L("기준 " + baseP.ToString("F2") + " 둘레 ±12 m · 2 m 격자 · 각 후보 반경 " + kRadius + " m 를 " + kStep + " m 격자로 평가");
            L("| 중심 | 지면 Δy | 최대경사 | 30°초과 | NavMesh 커버 | y컷초과 | 큰바위 | 물까지 | 원주12 | 기준에서 |");
            var best = new System.Collections.Generic.List<Row>();
            for (int i = -6; i <= 6; i++)
                for (int j = -6; j <= 6; j++)
                {
                    var want = new UnityEngine.Vector3(baseP.x + i * 2f, baseP.y, baseP.z + j * 2f);
                    UnityEngine.AI.NavMeshHit ch;
                    if (!UnityEngine.AI.NavMesh.SamplePosition(want, out ch, 3f, UnityEngine.AI.NavMesh.AllAreas)) continue;

                    int n = 0, on = 0, steep = 0, above = 0;
                    float ymin = 1e9f, ymax = -1e9f, smax = 0f;
                    int half = UnityEngine.Mathf.CeilToInt(kRadius / kStep);
                    for (int a = -half; a <= half; a++)
                        for (int b = -half; b <= half; b++)
                        {
                            float dx = a * kStep, dz = b * kStep;
                            if (dx * dx + dz * dz > kRadius * kRadius) continue;
                            n++;
                            var p = new UnityEngine.Vector3(ch.position.x + dx, ch.position.y, ch.position.z + dz);
                            UnityEngine.RaycastHit rh;
                            if (UnityEngine.Physics.Raycast(new UnityEngine.Vector3(p.x, p.y + 80f, p.z), UnityEngine.Vector3.down, out rh, 240f))
                            {
                                if (rh.point.y < ymin) ymin = rh.point.y;
                                if (rh.point.y > ymax) ymax = rh.point.y;
                                float ang = UnityEngine.Vector3.Angle(rh.normal, UnityEngine.Vector3.up);
                                if (ang > smax) smax = ang;
                                if (ang > 30f) steep++;
                            }
                            UnityEngine.AI.NavMeshHit h;
                            if (UnityEngine.AI.NavMesh.SamplePosition(p, out h, 2f, UnityEngine.AI.NavMesh.AllAreas))
                            { on++; if (h.position.y > kYCut) above++; }
                        }
                    if (on < 300) continue;

                    int water = 0, rocks = 0; string worst = ""; float rockMax = 0f, waterNear = 1e9f;
                    Overlap(go, ch.position, kRadius, ref water, ref rocks, ref worst, ref rockMax, ref waterNear, false);

                    int okr = 0;
                    for (int k = 0; k < 12; k++)
                    {
                        float ang2 = k * UnityEngine.Mathf.PI * 2f / 12f;
                        var rp = ch.position + new UnityEngine.Vector3(UnityEngine.Mathf.Cos(ang2), 0f, UnityEngine.Mathf.Sin(ang2)) * (kRadius * 0.8f);
                        UnityEngine.AI.NavMeshHit rh2;
                        if (!UnityEngine.AI.NavMesh.SamplePosition(rp, out rh2, 5f, UnityEngine.AI.NavMesh.AllAreas)) continue;
                        var p3 = new UnityEngine.AI.NavMeshPath();
                        UnityEngine.AI.NavMesh.CalculatePath(rh2.position, ch.position, UnityEngine.AI.NavMesh.AllAreas, p3);
                        if (p3.status == UnityEngine.AI.NavMeshPathStatus.PathComplete) okr++;
                    }

                    best.Add(new Row
                    {
                        p = ch.position, span = ymax - ymin, smax = smax, steep = steep, on = on, n = n,
                        above = above, rocks = rocks, water = water, waterNear = waterNear, okr = okr
                    });
                }
            // 정렬 = 30° 초과 → 큰 바위 → 원주 실패 → Δy
            best.Sort(delegate (Row a, Row b)
            {
                if (a.steep != b.steep) return a.steep.CompareTo(b.steep);
                if (a.rocks != b.rocks) return a.rocks.CompareTo(b.rocks);
                if (a.okr != b.okr) return b.okr.CompareTo(a.okr);
                return a.span.CompareTo(b.span);
            });
            L("  NavMesh 커버 ≥300 후보 " + best.Count + "개 · 상위 10");
            for (int i = 0; i < best.Count && i < 10; i++)
            {
                var r = best[i];
                L("| " + r.p.ToString("F2") + " | " + r.span.ToString("F2") + " m | " + r.smax.ToString("F1") + "° | "
                  + r.steep + "/" + r.n + " | " + r.on + "/" + r.n + " | " + r.above + " | " + r.rocks + " | "
                  + r.waterNear.ToString("F1") + " m | " + r.okr + "/12 | "
                  + UnityEngine.Vector3.Distance(r.p, baseP).ToString("F1") + " m |");
            }
            for (int i = 0; i < best.Count; i++)
                if (UnityEngine.Vector3.Distance(best[i].p, baseP) < 0.5f)
                { L("  (813t3 최적지 " + baseP.ToString("F2") + ") 순위 " + (i + 1) + "/" + best.Count + " · 30° 초과 " + best[i].steep + " · 큰 바위 " + best[i].rocks); break; }
        }
        finally
        {
            UnityEngine.AI.NavMesh.RemoveNavMeshData(inst);
            UnityEngine.Object.DestroyImmediate(go);
        }
        L("===== 끝 =====");
        return Flush2();
    }

    struct Row { public UnityEngine.Vector3 p; public float span, smax, waterNear; public int steep, on, n, above, rocks, water, okr; }

    static string Flush2()
    {
        try { System.IO.File.WriteAllText(Abs("AgentScripts/WL813t4_REFINE.txt"), s.ToString(), new System.Text.UTF8Encoding(true)); }
        catch (System.Exception e) { UnityEngine.Debug.LogWarning("[WL813t4] 저장 실패: " + e.Message); }
        return s.ToString();
    }

    static string FullName(UnityEngine.Transform t)
    {
        string p = t.name;
        int guard = 0;
        while (t.parent != null && guard++ < 32) { t = t.parent; p = t.name + "/" + p; }
        return p;
    }

    static UnityEngine.Transform FindByName(UnityEngine.Transform t, string name)
    {
        if (t.name == name) return t;
        for (int i = 0; i < t.childCount; i++)
        {
            var r = FindByName(t.GetChild(i), name);
            if (r != null) return r;
        }
        return null;
    }
}