I am chill; It's just your perception.

There is also a lore reason for why this is.
In short a the last of the demons wants revenge for being rightfully purged to extinction by conducting horrible experiments.
Those leading to most of what you see in stage 3.
With you, the player, and those other brown haired testers being sort of clones of the original hero's and the tests being to reproduce a subject with true hero's blood to breed with her to not only recreate her species but make them unstoppable.
They are all made to run the test.
She wouldn't want us to be able fight back or all her plans would be for naught.
I know this doesn't make the game better for you but at least now you can understand why the game is like this.
If you want more action I suggest Poring's other game
Attack It! Devil's Legion.
It is similar like Castle only that it is more combat oriented, basically turning the tables and instead of being the rapped by monster girls you must form a team of monster girls to rape the opponents.
Otherwise they are currently making a sort of Vampire Survival game which seems like it would feature some sort of combat too.