Pathfinding A.I problem

[lostresosostedyIII (Server)]

Well I was revisiting my old games and found this pathfinding code I made myself with the help of ChatGPT when I was a noobie… I suddenly got the passion to continue the project, and I’m wondering if the code is well optimized and how to fix this bug with the fricking bot:
(I’m the blue one, the bot is the red one)

The path is INDEED possible:

(I don’t know what’s the white square on the right)

Well, here’s the code, and, if you can help, thanks!

local pathfindingService = game:GetService("PathfindingService")
local HumanoidZ = script.Parent.Humanoid

local function TorsoLocal(Position)
	local List = workspace:GetChildren()
	local Torso = nil
	local Distancia = script.Distance.Value
	local NPC1 = nil
	local NPC2 = nil
	local NPC3 = nil
	local Humanoid = nil
	local PartPrimary = script.Parent.PrimaryPart
	if PartPrimary.Anchored == true then
		PartPrimary.Anchored = false
		
	end
	script.Parent.PrimaryPart:SetNetworkOwner(nil)
	for i = 1, #List do
		NPC2 = List[i]
		if NPC2:IsA("Model") and (NPC2 ~= script.Parent) then
			NPC1 = NPC2:FindFirstChild("Torso")
			NPC3 = NPC2:FindFirstChild("UpperTorso")
			Humanoid = NPC2:FindFirstChild("Humanoid")
			if (NPC1 ~= nil) then
				if (Humanoid ~= nil) and (Humanoid.Health > 0) then
					if (NPC1.Position - script.Parent.HumanoidRootPart.Position).magnitude < Distancia then
						if workspace.EnJuego.Sobrevivientes:FindFirstChild(NPC2.Name) then
							Torso = NPC1
							Distancia = (NPC1.Position - script.Parent.HumanoidRootPart.Position).magnitude
						end
					end
				end
			elseif (NPC3 ~= nil) then
				if (Humanoid ~= nil) and (Humanoid.Health > 0) then
					if (NPC3.Position - script.Parent.HumanoidRootPart.Position).magnitude < Distancia then
						if workspace.EnJuego.Sobrevivientes:FindFirstChild(NPC2.Name) or workspace.EnJuego.Traidores:FindFirstChild(NPC2.Name) then
							Torso = NPC3
							Distancia = (NPC3.Position - script.Parent.HumanoidRootPart.Position).magnitude
						end
					end
				end
			end
		end
	end
	return Torso
end

local recalculateInterval = 0.5  -- Recalculate the path every 0.5 seconds
local lastRecalculateTime = tick()
local currentWaypointIdx = 1
local stuckCheckInterval = 1  -- Check if NPC is stuck every 1 second
local lastStuckCheckTime = tick()
local maxStuckTime = 3 
local isStuckTime = 0
local previousPosition = script.Parent.Torso.Position

local function shouldRecalculatePath()
	local timeSinceLastRecalculate = tick() - lastRecalculateTime
	return timeSinceLastRecalculate >= recalculateInterval
end

local function isStuck()

	local currentPosition = script.Parent.Torso.Position
	local timeSinceLastStuckCheck = tick() - lastStuckCheckTime

	if timeSinceLastStuckCheck >= stuckCheckInterval then
		lastStuckCheckTime = tick()

		-- Check if the NPC has moved
		if (currentPosition - previousPosition).Magnitude < 3 then
			-- Increment the stuck time
			isStuckTime = isStuckTime + timeSinceLastStuckCheck

			-- Check if the NPC has been stuck for too long
			if isStuckTime >= maxStuckTime then
				print("Stuck")
				HumanoidZ.Jump = true
				return true
			end
		else
			-- Reset the stuck time if the NPC has moved
			isStuckTime = 0
		end

		previousPosition = currentPosition
	end

	return false
end

while task.wait() do
	local Central = TorsoLocal(script.Parent.Torso.Position)
	if Central ~= nil then
		local agentParams = {
			["AgentHeight"] = 5,
			["AgentCanJump"] = true,
			["AgentRadius"] = 2,
			["AgentCanClimb"] = true,
		}
		local path = pathfindingService:CreatePath(agentParams)
		path:ComputeAsync(script.Parent.Torso.Position, Central.Position)
		local waypoints = path:GetWaypoints()

		local function OnPathBlocked(blockedWaypointIdx)
			if blockedWaypointIdx > currentWaypointIdx then
				path:ComputeAsync(script.Parent.Torso.Position, Central.Position)
				waypoints = path:GetWaypoints()  -- Update waypoints after recalculating path
				currentWaypointIdx = 1  -- Reset currentWaypointIdx
				TorsoLocal()
			end
		end

		path.Blocked:Connect(OnPathBlocked)  -- Connect to the Blocked event before iterating over the waypoints

		if path.Status == Enum.PathStatus.Success then
			local hum = script.Parent.Humanoid

			for i, waypoint in ipairs(waypoints) do
				local oldPosition = TorsoLocal(script.Parent.Torso.Position).Position


				hum:MoveTo(waypoint.Position)
				hum.MoveToFinished:Wait() -- The movement is choppy because of this but using heartbeat in the loop makes the AI worse
				-- Wait for the NPC to reach the current waypoint
				if shouldRecalculatePath() then
					break
				end

				if waypoint.Action == Enum.PathWaypointAction.Jump then
					hum.Jump = true  -- Trigger the jump action
				end

				if isStuck() then
					path:ComputeAsync(script.Parent.Torso.Position, Central.Position)
					waypoints = path:GetWaypoints()  -- Update waypoints after recalculating path
					currentWaypointIdx = i  -- Reset currentWaypointIdx
					HumanoidZ.Jump = true
					break
				end

			end
		else
			print("No valid path found")
		end
		lastRecalculateTime = tick()  -- Update the last recalculate time

	end
end

[BlueDeveloper24]

You dont have to use for loop for waypoints.

[lostresosostedyIII (Server)]

Can you elaborate? I’m the antonym of nerd but in real life

[BlueDeveloper24]

Just get the 3rd point of the waypoint instead of looping, it will be faster because you dont need all the waypoints for path unless you want a static path.

if #pathwaypoints >=3 the
humanoid go to (waypoint[3].Position) etc

[lostresosostedyIII (Server)]

Problem fixed It was an outside variable