[codex] Improve replanning and moving target following

[nsawill1405]

Summary

• add opt-in moving-target following for Navigator:MoveTo with drift and interval controls
• fix navigator replanning state handling and internal module requires used by the packaged runtime
• refresh the example scenes and tests so blocked replans and humanoid demos behave reliably

Why

• moving instance goals were only picked up on the next path compute, so target chasing was not supported directly
• pending replan reasons could leak across replans and exhaust maxReplans incorrectly
• the blocked-path example and demo NPC setup were not reliably exercising the intended humanoid navigation path

Impact

• developers can now opt into chasing moving BasePart and Attachment goals without changing static-goal behavior
• packaged consumers get the corrected internal requires for Planner, Coordinator, and Navigator
• the demo place better reflects the public API and expected replanning behavior

Validation

• stylua --check src test example
• selene src test example
• lune run test/run.luau
• rojo build default.project.json --output /tmp/PathfindingPlus.rbxlx

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ℹ️ Review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro

Run ID: 0af7f50b-2606-4afb-bc85-ce52fcbf17ca

📥 Commits

Reviewing files that changed from the base of the PR and between 2501907 and fba52cc.

📒 Files selected for processing (10)

• README.md
• example/src/ServerScriptService/Bootstrap.server.luau
• src/Coordinator/init.luau
• src/Navigator/MovingGoalPolicy.luau
• src/Navigator/PrepareReplan.luau
• src/Navigator/init.luau
• src/Planner/init.luau
• test/run.luau
• test/specs/MovingGoalPolicy.spec.luau
• test/specs/NavigatorReplan.spec.luau

✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch codex/moving-goal-following

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[Copilot]

Pull request overview

This PR extends Navigator:MoveTo with an opt-in “follow moving goal” mode while also fixing internal module require paths for packaged consumers and updating demos/tests to better exercise replanning behavior.

Changes:

• Add moving-goal repath logic (threshold + interval gated) and consume-once replanning reasons in Navigator.
• Fix internal require(...) paths in Planner, Coordinator, and Navigator for packaged runtime layouts.
• Add targeted unit tests and refresh the demo scene setup for more reliable blocked-path replans.

Reviewed changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
test/specs/NavigatorReplan.spec.luau	Adds coverage for consuming/clearing pending replan reasons.
test/specs/MovingGoalPolicy.spec.luau	Adds coverage for the moving-goal repath decision policy.
test/run.luau	Registers the new specs in the test runner.
src/Planner/init.luau	Updates internal Goal require path for packaged runtime.
src/Navigator/init.luau	Implements moving-goal repathing + replan-reason consumption integration.
src/Navigator/PrepareReplan.luau	Introduces helper to consume and clear pending replan reason.
src/Navigator/MovingGoalPolicy.luau	Adds a policy module to decide when a moving goal should trigger repathing.
src/Coordinator/init.luau	Updates internal Shared/* require paths for packaged runtime.
example/src/ServerScriptService/Bootstrap.server.luau	Refreshes demo NPC creation + blocked-scene layout and repath trigger.
README.md	Documents moving-target following options and tuning notes.

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[Copilot]

_shouldRepathForMovingGoal calls _resolveGoal(run) unconditionally, even when followMovingGoal is disabled or the goal isn’t an Instance. This adds extra coordinator/spacing work on every poll and also changes behavior when an Instance goal becomes invalid mid-run (it will now surface during waypoint waits). Consider early-returning before resolving the goal unless moving-goal following is enabled and applicable, so static-goal navigation keeps its previous behavior/perf profile.

Suggested change

	local currentGoalPosition, goalError = self:_resolveGoal(run)
	if currentGoalPosition == nil then
	return false, goalError
	end
	local shouldRepath = MovingGoalPolicy.shouldRepath({
	enabled = run.moveOptions.followMovingGoal == true,
	goalType = typeof(run.goal),
	if run.moveOptions.followMovingGoal ~= true or typeof(run.goal) ~= "Instance" then
	return false, nil
	end
	local currentGoalPosition, goalError = self:_resolveGoal(run)
	if currentGoalPosition == nil then
	return false, goalError
	end
	local shouldRepath = MovingGoalPolicy.shouldRepath({
	enabled = true,
	goalType = "Instance",

[Copilot]

lastObservedGoalPosition is written and initialized, but it’s never read anywhere in the codebase. This makes the run state harder to reason about and suggests either dead state or a missing use (e.g., exposing it via GetDebugSnapshot). Consider removing it entirely or wiring it into the intended consumer.

Suggested change

lastObservedGoalPosition = nil,