local Players = game:GetService("Players")
local UIS = game:GetService("UserInputService")
local RunService = game:GetService("RunService")

local LP = Players.LocalPlayer
local Camera = workspace.CurrentCamera

local MAX_DISTANCE = 250
local RAYS = 1000
local RAYS_PER_FRAME = 50
local MEMORY = 10

local black = false
local scanning = false
local points = {}

local gui = Instance.new("ScreenGui", LP:WaitForChild("PlayerGui"))
gui.Name = "Lidar"
gui.DisplayOrder = -100
gui.IgnoreGuiInset = true

local screen = Instance.new("Frame", gui)
screen.Size = UDim2.fromScale(1,1)
screen.BackgroundColor3 = Color3.new(0,0,0)
screen.Visible = false

local container = Instance.new("Frame", gui)
container.Size = UDim2.fromScale(1,1)
container.BackgroundTransparency = 1
container.Visible = false

local params = RaycastParams.new()
params.FilterType = Enum.RaycastFilterType.Exclude

local function clear()
	for _,p in ipairs(points) do
		p.gui:Destroy()
	end
	table.clear(points)
	container.Visible = false
end

local function add(pos, dist, color, text)
	local p = Instance.new("TextLabel", container)
	p.BackgroundTransparency = 1
	p.Text = text or "▲"
	p.TextColor3 = color or Color3.new(1,1,1)
	p.TextScaled = true
	p.Size = UDim2.fromOffset(
		text and 8 or math.clamp(8 - dist / 50, 2, 6),
		text and 8 or math.clamp(8 - dist / 50, 2, 6)
	)
	p.AnchorPoint = Vector2.new(.5,.5)

	table.insert(points,{
		pos = pos,
		gui = p,
		time = os.clock()
	})
end

local function scanPlayers()
	local origin = Camera.CFrame.Position

	for _,plr in ipairs(Players:GetPlayers()) do
		if plr ~= LP and plr.Character then
			local root = plr.Character:FindFirstChild("HumanoidRootPart")
			local hum = plr.Character:FindFirstChildOfClass("Humanoid")

			if root and hum and hum.Health > 0 then
				local offset = root.Position - origin

				if offset.Magnitude <= MAX_DISTANCE then
					local screenPos, visible =
						Camera:WorldToViewportPoint(root.Position)

					if visible and screenPos.Z > 0 then
						local hit = workspace:Raycast(origin,offset,params)

						if not hit or hit.Instance:IsDescendantOf(plr.Character) then
							add(root.Position,offset.Magnitude,
								plr.Team == LP.Team
								and Color3.fromRGB(50,255,100)
								or Color3.fromRGB(255,50,50),
								"◆")
						end
					end
				end
			end
		end
	end
end

local function scan()
	if scanning then return end
	scanning = true
	black = true
	screen.Visible = true
	container.Visible = true

	params.FilterDescendantsInstances = {LP.Character}
	scanPlayers()

	local origin = Camera.CFrame.Position

	for i = 1,RAYS do
		local yaw = math.rad(math.random(-5500,5500)/100)
		local pitch = math.rad(math.random(-3800,3800)/100)

		local dir = Camera.CFrame:VectorToWorldSpace(
			CFrame.Angles(pitch,yaw,0).LookVector
		)

		local hit = workspace:Raycast(origin,dir * MAX_DISTANCE,params)

		if hit then
			add(hit.Position,(hit.Position-origin).Magnitude)
		end

		if i % RAYS_PER_FRAME == 0 then
			RunService.RenderStepped:Wait()
		end
	end

	scanning = false
end

RunService.RenderStepped:Connect(function()
	local now = os.clock()

	for i = #points,1,-1 do
		local p = points[i]
		local age = now - p.time

		if age >= MEMORY then
			p.gui:Destroy()
			table.remove(points,i)
		else
			local pos,visible = Camera:WorldToViewportPoint(p.pos)

			p.gui.Position = UDim2.fromOffset(pos.X,pos.Y)
			p.gui.Visible = visible and pos.Z > 0

			if age > MEMORY - 2 then
				p.gui.TextTransparency = (age-(MEMORY-2))/2
			end
		end
	end

	container.Visible = black or scanning
end)

UIS.InputBegan:Connect(function(input,processed)
	if processed then return end

	if input.KeyCode == Enum.KeyCode.N then
		black = not black
		screen.Visible = black

		if not black then
			clear()
		end
	elseif input.KeyCode == Enum.KeyCode.X then
		task.spawn(scan)
	end
end)