Raycasting is ignoring/ missing its intended target

[octxly (oct)]

1. What do you want to achieve?
   I want to raycast between these 2 NPCs.
2. What is the issue?
   
   
   
   This is a visualization of what is happening. The ray seems to either ignore the soldier or miss it completely.
3. What solutions have you tried so far?
   I have just been troubleshooting this. I know the soldier is ignored or missed. Every other basepart that touches the ray registers.

local rayParams = RaycastParams.new()
rayParams.FilterDescendantsInstances = {zombie}
rayParams.FilterType = Enum.RaycastFilterType.Blacklist

while true do
	local origin = zombie.Head.Position
	local direction = soldier.HumanoidRootPart.Position
	
	local raycastResult = workspace:Raycast(origin, direction)

	if raycastResult then
		local distance = (zombie.Head.Position - raycastResult.Instance.Position).Magnitude
		local p = Instance.new("Part", workspace.Folder)

        --Visualization
		p.Anchored = true
		p.CanCollide = false
		p.Size = Vector3.new(0.1, 0.1, distance)
		p.CFrame = CFrame.lookAt(zombie.Head.Position, raycastResult.Instance.Position)*CFrame.new(0, 0, -distance/2)
		
		if raycastResult.Instance.Parent == soldier then
			zombie.Humanoid:MoveTo(soldier.HumanoidRootPart.Position)
			print("Target seen")
		else
			print(raycastResult.Instance)
			print(raycastResult.Normal)
		end
	end
	
	wait()
end

[Pokemoncraft5290 (Based)]

The direction parameter is not the end position of the ray, it’s the direction the ray is going in. The direction parameter should be:

	local direction = soldier.HumanoidRootPart.Position - zombie.Head.Position

[octxly (oct)]

The direction is okay now, but it is still not registering the other NPC, even though the ray goes right through it.