I'm trying to build a waypoint system for the Pathfinder library. The idea is to make it easier for people to map the Node system on to whatever they're doing.

I've made some progress but it has some fatal flaws.

I thought that you would have the Bot as a free agent. It would be assigned to it's nearest Node 'pos'. On calculation of a path it would travel to the next Node in the path 'wp' (waypoint). On reaching a collision distance 'pos' becomes 'wp' and 'wp' becomes the next Node up in the path.

Pathfinder draws paths from finish to start (that's how you get the shortest path). But I have to ask for it backwards in order to get the waypoints to flow from start to finish (I get the next waypoint in the path by just looking at it's parent).

This means that my compromise-path code won't work. It will start from a blocked off area and never get to the finish (which is actually the start?).

Here's what I've got so far. A smooth moving bot, but with some bugs.

Some feedback might help me figure this out.

Just needed to hear it from someone else. Cheers.

The code for a library version will be quite ugly.