asd.lua

local char = script.Parent
local Root = char:WaitForChild("HumanoidRootPart")
local map = workspace.CurrentMap

local Abyss = require(game.ReplicatedStorage.Abyss.Main)
local npcLib = Abyss.LoadModule("NpcLib")
local pathLib = Abyss.LoadModule("PathLib")
local assetLib = Abyss.LoadModule("AssetLib")
local physLib = Abyss.LoadModule("PhysLib")

local curStatus = "Wandering"
local BrokenLineOfSightEndChaseTimeout = 1.25
local destReachRange = 1.5
local AttackRange = 4
local losRange = 512
local ai_max_range = math.huge
local maxTimeouts = 3 --the amount of times the NPC can fail to walk to a node
local alwaysChase = true --For testing purposes only
local remotes = game.ReplicatedStorage.Remotes

local timeouts = 0

--TODO: !!!!!!!! ONLY COMPILE NODEGRAPH ONCE PER MAP !!!!!!!
local masterTable, mnt_index = pathLib.CollectNodes(workspace.CurrentMap.Nodes)

local Stats = {
	Health = 100;
	MaxHealth = 100;
	WalkSpeed = 12;
}

char.Humanoid:SetStateEnabled(Enum.HumanoidStateType.Climbing, false)


local gyro = Instance.new("BodyGyro", Root)
gyro.D = 1
gyro.P = 400000
gyro.MaxTorque = Vector3.new(0, 4000, 0)


function GetState()
	return curStatus
end


function ShouldBeActive()
	local target, dist = ChooseTarget()
	if target ~= nil then
		local playerSeen = npcLib.LineOfSight(Root, target, losRange, {script.Parent, workspace.Ignore, workspace.NPCs})
		if dist <= 55 and playerSeen then
			return true
		end
	end
	return false
end

function RotateTowards(goal)
	if gyro ~= nil then
		gyro.CFrame = CFrame.new(Root.Position, goal) - Root.Position
	end
end

function HasReachedDestination(dest)
	local torsoPos = Root.Position - Vector3.new(0, 2, 0)
	if (torsoPos - dest.Position).magnitude <= destReachRange then
		return true
	else
		return false
	end
end

function ChooseTarget()
	local plrs = game.Players:GetPlayers()
	if #plrs > 0 then
		if plrs[1].Character ~= nil then
			local nearest = workspace.Players[plrs[1].Name]
			local finalDist = (workspace.Players[plrs[1].Name].Position - Root.Position).magnitude
			
			for p = 2, #plrs do
				if plrs[p].Character.Humanoid.Health > 0 then
					local dist = (workspace.Players[plrs[p].Name].Position - Root.Position).magnitude
					local oldDist = (nearest.Position - Root.Position).magnitude
					if dist < oldDist then
						nearest = workspace.Players[plrs[p].Name]
						finalDist = dist
					end
				end
			end
			return nearest, finalDist
		end
	end
	return nil, nil
end

function CheckObstacles(target)
	local ray = Ray.new(Root.Position, (target - Root.Position).unit * 2)
	local hit, pos = workspace:FindPartOnRayWithIgnoreList(ray, {script.Parent, workspace.Ignore})
	if hit ~= nil then
		local ws = char.Humanoid.WalkSpeed
		char.Humanoid.WalkSpeed = 0
		wait(0.5)
		char.Humanoid.WalkSpeed = ws
	end
end

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

--[[spawn(function()
	while wait(1/10) do
		local playerSeen = npcLib.LineOfSight(Root, target, losRange, {script.Parent, workspace.Ignore})
		
	end
end)]]
spawn(function()
	while wait(1/10) do
		local target = ChooseTarget()
		local playerSeen = npcLib.LineOfSight(Root, target, losRange, {script.Parent, workspace.Ignore, workspace.NPCs})
		remotes.SendNPCStatus:FireAllClients(curStatus, playerSeen)
		char.Head.BillboardGui.TextLabel.Text = curStatus
		
		if curStatus == "Wandering" then
			char.Head.BillboardGui.TextLabel.TextColor3 = Color3.new(191/255, 255/255, 161/255)
		elseif curStatus == "Pathfinding" then
			char.Head.BillboardGui.TextLabel.TextColor3 = Color3.new(167/255, 194/255, 255/255)
		elseif curStatus == "Chasing" then
			char.Head.BillboardGui.TextLabel.TextColor3 = Color3.new(255/255, 153/255, 153/255)
		elseif curStatus == "Attacking" then
			char.Head.BillboardGui.TextLabel.TextColor3 = Color3.new(255/255, 50/255, 50/255)
		end
		
	end
end)

function Attack(target)
	local oldWs = char.Humanoid.WalkSpeed
	char.Humanoid.WalkSpeed = 0
	curStatus = "Attacking"
	wait(1)
	char.Humanoid.WalkSpeed = oldWs
end

function Chase(target)
	local t = 0
	while true do
		print("Line of sight acquired, beginning chase")
		curStatus = "Chasing"
		local dt = wait(1/4)
		local playerSeen = npcLib.LineOfSight(Root, target, losRange, {script.Parent, workspace.Ignore, workspace.NPCs})
		if not playerSeen then
			t = t + dt
		else
			t = 0
		end
		if t >= BrokenLineOfSightEndChaseTimeout then
			print("Line of sight broken, ending chase, beginning pathfind")
			break
		end
		if (Root.Position - target.Position).magnitude <= AttackRange then
			Attack(target)
		end
		
		Root.Parent.Humanoid:MoveTo(target.Position)
	end
end





while true do
	if ShouldBeActive() then
		local target = ChooseTarget()
		local playerSeen = npcLib.LineOfSight(Root, target, losRange, {script.Parent, workspace.Ignore, workspace.NPCs})
		if playerSeen then
			Chase(target)
		end
		
		local success = Pathfind(target, Root.Position, target.Position)
		if success then
			target = ChooseTarget()
			local playerSeen = npcLib.LineOfSight(Root, target, losRange, {script.Parent, workspace.Ignore, workspace.NPCs})
			if playerSeen then
				Chase(target)
			end
		end
	else
		--WANDER
		curStatus = "Wandering"
		local node = pathLib.GetNearestNodeVis(Root, Root.Position, losRange, true, map.Nodes, masterTable, {char})
		if node ~= nil then
			local walkPos = node.Position + Vector3.new(math.random(-3, 3), 0, math.random(-3, 3))
			RotateTowards(walkPos)
			Root.Parent.Humanoid:MoveTo(walkPos)
			wait(math.random(1, 4))
		else
			wait(1/2)
		end
	end
	wait(1/20)
end





warn(script.Parent.Name.."- Main AI loop was exited. Was this done on purpose?")