local char = script.Parent
local head = char:WaitForChild("Head")
local torso = char:WaitForChild("Torso")
local hum = char:WaitForChild("Humanoid")
local destReachRange = 3
local losRange = 128
local hearRange = 48
local ai_max_range = math.huge
local attackRange = 2 --65
local runSpeed = 16
local patrolSpeed = 6

local Orakel = require(game.ReplicatedStorage.Orakel.Main)
local npcLib = Orakel.LoadModule("NpcLib")
local pathLib = Orakel.LoadModule("PathLib")

local map = workspace.Map
local masterTable, mnt_index = pathLib.CollectNodes(map.Nodes)


math.randomseed(os.time())


local gyro = Instance.new("BodyGyro", script.Parent.Torso)
gyro.D = 100
gyro.P = 400
gyro.MaxTorque = Vector3.new(0, 400000, 0)


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


function shuffleTable(tab)
    local t = tab
    local rand = math.random
    assert( t, "shuffleTable() expected a table, got nil" )
    local iterations = #t
    local j

    for i = iterations, 2, -1 do
        j = rand(i)
        t[i], t[j] = t[j], t[i]
    end
    return t
end

function hasReachedDestination(dest)
    if (torso.Position - dest.Position).magnitude <= destReachRange then
        return true
    else
        return false
    end
end


function lineOfSight(a, b)
    local los = false
    local vis = npcLib.LineOfSight(a, b, losRange, _G.ignorelist)
    local behind = (b.CFrame:toObjectSpace(a.CFrame).p.Z < 0)
    if vis and not behind then
        los = true
    end
    return los
end

function attack()



end



function chooseNodeInArea(areanode)
    local validNodes = pathLib.GetNodesVisibleInRadius(areanode.Position, 32, true, workspace.Map.Nodes, masterTable)
    return validNodes[math.random(1,#validNodes)]
end


function chooseTarget()
    --[[
    local targets = {}
    --Find Player targets
    for _, plrInGame in pairs(game.Players:GetPlayers()) do
        local plr = plrInGame.Character
        if plr ~= nil then
            if plr.Humanoid.Health > 0 then
                local los = lineOfSight(head, plr.Head)
                if los then
                    table.insert(targets, plr)
                else
                    --[[if plr.EmittingSound.Value then
                        local dist = (torso.Position - plr.Torso.Position).magnitude
                        if dist <= hearRange then
                            table.insert(targets, plr)
                        end
                    end]]
--[[                end
            end
        end
    end

    if #targets > 1 then
        local nearest = targets[1]
        for t = 2, #targets do
            local old = (nearest.Torso.Position - torso.Position).magnitude
            local new = (targets[t].Torso.Position - torso.Position).magnitude
            if new < old then
                nearest = targets[t]
            end
        end
    elseif #targets == 1 then
        return targets[1]
    end
    ]]
    return nil
end




function pathFind(target, startPos, goalPos)
    local startID = pathLib.GetNearestNode(startPos, false, map.Nodes, masterTable)
    local goalID = pathLib.GetNearestNode(goalPos, false, map.Nodes, masterTable)
    local path = pathLib.AStar(masterTable, startID, goalID)

    for nodeNum, node in pairs(path) do
        local eta = npcLib.EstimatedPathTime(torso.Position, node.Position, hum.WalkSpeed)
        local timeWalked = 0

        while true do
            hum:MoveTo(node.Position)
            rotateTowards(node.Position)
            local act = wait(1/20)
            timeWalked = timeWalked + act
            local newTarget = chooseTarget()
            --Reached node, Move to next node
            if hasReachedDestination(node) then
                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!")
                return false
            end
            --Got line of sight on target, Stop finding the path and just walk there
            if target.Parent:FindFirstChild("Humanoid") then
                if npcLib.LineOfSight(head, target.Torso, losRange, _G.ignorelist) and (torso.Position - target.Torso.Position).magnitude <= 25 then
                    warn("-> Got line of sight on target, Stop pathfinding")
                    return false
                end
            end
        end
    end
    return true
end



warn("NPC loaded")


while true do
    wait(1/30)
    local target-- = chooseTarget()

    if target == nil then
        --Area nodes are basically positions of rooms, each room will have one area node
        local areanodes = map.AreaNodes:GetChildren()
        areanodes = shuffleTable(areanodes)
        for node = 1, #areanodes do
            print("Patrolling area #"..node)
            local patrolLocation = chooseNodeInArea(areanodes[node])
            local success = pathFind(patrolLocation, torso.Position, patrolLocation.Position)
            if not success then
                warn("Pathfind was not a success")
                break
            else
                wait(math.random(3, 6))
            end
        end
    else

    end
end