pathfind.lua

function Pathfind(target, startPos, goalPos)
	curStatus = "Pathfinding"
	local abortPathfind = false
	--GetNearestNode(position, returnBrick, dir, masterTable)
	--GetNearestNodeVis(subject, position, visRange, returnBrick, dir, masterTable, ignore)
	
	
	local startID = pathLib.GetNearestNodeVis(Root, startPos, losRange, false, map.Nodes, masterTable, {char, workspace.NPCs})
	local goalID = NEW_GOAL_NODE or pathLib.GetNearestNodeVis(target, goalPos, losRange, false, map.Nodes, masterTable, {char, workspace.NPCs})
	local path = pathLib.AStar(masterTable, startID, goalID)

	NEW_GOAL_NODE = nil
	spawn(function()
		while true do
			wait(2)
			if target ~= nil then
				if target.Parent ~= nil then
					if target.Parent:FindFirstChild("Humanoid") then
						local newGoal = target.Position
						local goalnode = pathLib.GetNearestNode(goalPos, false, map.Nodes, masterTable)
						if goalnode ~= goalID then
							abortPathfind = true
							NEW_GOAL_NODE = goalnode
						end
					end
				end
			end
		end
	end)



	for nodeNum, node in pairs(path) do
		local eta = npcLib.EstimatedPathTime(Root.Position, node.Position, Stats.WalkSpeed, 0.5)
		local timeWalked = 0
		
		while true do
			if abortPathfind then
				--warn("Adjusting new path")
				return false
			end

			Root.Parent.Humanoid:MoveTo(node.Position)
			local rotTarget
			local nextNode = path[nodeNum + 1] 
			if nextNode == nil then
				rotTarget = node.Position
			else
				rotTarget = nextNode.Position
			end
			CheckObstacles(node.Position)
			RotateTowards(rotTarget)
			
			local act = wait(1/20)
			timeWalked = timeWalked + act
			local newTarget = ChooseTarget()
			
			--Reached node, Move to next node
			if HasReachedDestination(node) then
				--if node.Jump.Value then
					--hum.Jump = true
				--end
				if timeouts > 0 then
					timeouts = 0
				end
				break
			end
			--Target changed!
			if newTarget ~= target and newTarget ~= nil then
				--warn("-> Target changed from "..tostring(target).." to "..tostring(newTarget)..", aborting pathfind!")
				return false
			end

			--Timed out! Return false, acquire new path
			if timeWalked > eta then
				--warn("-> Timed out!")
				--char.Humanoid.Jump = true
				timeouts = timeouts + 1
				if timeouts >= maxTimeouts then
					timeouts = 0
					warn("NPC stuck at {"..tostring(Root.Position).."} !")
					--char.Humanoid.Health = 0
					break
				end
				return false
			end
			
			--Got line of sight on target, Stop finding the path and just walk there
			local playerSeen = npcLib.LineOfSight(Root, newTarget, losRange, {script.Parent, workspace.Ignore, workspace.NPCs})
			local cdist = (Root.Position - target.Position).magnitude
			if playerSeen and cdist <= losRange then
				--warn("-> Got line of sight on target, Stop pathfinding")
				return false
			end
		end
	end
	return true
end