diff --git a/src/k_waypoint.c b/src/k_waypoint.c
index b9581e871..db8289aaa 100644
--- a/src/k_waypoint.c
+++ b/src/k_waypoint.c
@@ -314,7 +314,7 @@ waypoint_t *K_GetBestWaypointForMobj(mobj_t *const mobj)
 			}
 			else if (checkdist < closestdist && bestfindist == INT32_MAX)
 			{
-				if (!P_CheckSight(mobj, checkwaypoint->mobj))
+				if (!P_TraceBlockingLines(mobj, checkwaypoint->mobj))
 				{
 					// Save sight checks for the end, so we only do it if we have to
 					continue;
diff --git a/src/lua_baselib.c b/src/lua_baselib.c
index d689dc848..da2c21bbb 100644
--- a/src/lua_baselib.c
+++ b/src/lua_baselib.c
@@ -1410,6 +1410,18 @@ static int lib_pCheckSight(lua_State *L)
 	return 1;
 }
 
+static int lib_pTraceBlockingLines(lua_State *L)
+{
+	mobj_t *t1 = *((mobj_t **)luaL_checkudata(L, 1, META_MOBJ));
+	mobj_t *t2 = *((mobj_t **)luaL_checkudata(L, 2, META_MOBJ));
+	//HUDSAFE?
+	INLEVEL
+	if (!t1 || !t2)
+		return LUA_ErrInvalid(L, "mobj_t");
+	lua_pushboolean(L, P_TraceBlockingLines(t1, t2));
+	return 1;
+}
+
 static int lib_pCheckHoopPosition(lua_State *L)
 {
 	mobj_t *hoopthing = *((mobj_t **)luaL_checkudata(L, 1, META_MOBJ));
@@ -3783,6 +3795,7 @@ static luaL_Reg lib[] = {
 	{"P_SlideMove",lib_pSlideMove},
 	{"P_BounceMove",lib_pBounceMove},
 	{"P_CheckSight", lib_pCheckSight},
+	{"P_TraceBlockingLines", lib_pTraceBlockingLines},
 	{"P_CheckHoopPosition",lib_pCheckHoopPosition},
 	{"P_RadiusAttack",lib_pRadiusAttack},
 	{"P_FloorzAtPos",lib_pFloorzAtPos},
diff --git a/src/p_local.h b/src/p_local.h
index f4029aedc..47a65563c 100644
--- a/src/p_local.h
+++ b/src/p_local.h
@@ -400,6 +400,7 @@ void P_UnsetThingPosition(mobj_t *thing);
 void P_SetThingPosition(mobj_t *thing);
 void P_SetUnderlayPosition(mobj_t *thing);
 
+boolean P_IsLineBlocking(const line_t *ld, const mobj_t *thing);
 boolean P_CheckPosition(mobj_t *thing, fixed_t x, fixed_t y);
 boolean P_CheckCameraPosition(fixed_t x, fixed_t y, camera_t *thiscam);
 boolean P_TryMove(mobj_t *thing, fixed_t x, fixed_t y, boolean allowdropoff);
@@ -409,6 +410,7 @@ void P_SlideMove(mobj_t *mo);
 void P_BouncePlayerMove(mobj_t *mo);
 void P_BounceMove(mobj_t *mo);
 boolean P_CheckSight(mobj_t *t1, mobj_t *t2);
+boolean P_TraceBlockingLines(mobj_t *t1, mobj_t *t2);
 void P_CheckHoopPosition(mobj_t *hoopthing, fixed_t x, fixed_t y, fixed_t z, fixed_t radius);
 
 boolean P_CheckSector(sector_t *sector, boolean crunch);
diff --git a/src/p_map.c b/src/p_map.c
index 898ee0a49..98966c14d 100644
--- a/src/p_map.c
+++ b/src/p_map.c
@@ -1624,7 +1624,7 @@ static boolean PIT_CheckCameraLine(line_t *ld)
 	return true;
 }
 
-static boolean P_IsLineBlocking(const line_t *ld, const mobj_t *thing)
+boolean P_IsLineBlocking(const line_t *ld, const mobj_t *thing)
 {
 	// missiles can cross uncrossable lines
 	if ((thing->flags & MF_MISSILE))
diff --git a/src/p_sight.c b/src/p_sight.c
index a18f22d40..38a50df36 100644
--- a/src/p_sight.c
+++ b/src/p_sight.c
@@ -498,3 +498,161 @@ boolean P_CheckSight(mobj_t *t1, mobj_t *t2)
 	// the head node is the last node output
 	return P_CrossBSPNode((INT32)numnodes - 1, &los);
 }
+
+//
+// P_TraceBlockingLines
+//
+// Returns true if a straight line between t1 and t2 is unobstructed.
+// Unlike P_CheckSight, simplifed down to only check for explicit blocking lines on the 2D plane.
+// Intended for Kart waypoints.
+// Might be better in it's own file?
+//
+
+typedef struct {
+	fixed_t t2x, t2y;
+	divline_t strace; // from t1 to t2
+	fixed_t bbox[4];
+	mobj_t *compareThing;
+} traceblocking_t;
+
+static boolean P_CrossBlockingSubsector(size_t num, register traceblocking_t *tb)
+{
+	seg_t *seg;
+	INT32 count;
+
+#ifdef RANGECHECK
+	if (num >= numsubsectors)
+		I_Error("P_CrossBlockingSubsector: ss %s with numss = %s\n", sizeu1(num), sizeu2(numsubsectors));
+#endif
+
+	// haleyjd 02/23/06: this assignment should be after the above check
+	seg = segs + subsectors[num].firstline;
+
+	for (count = subsectors[num].numlines; --count >= 0; seg++)  // check lines
+	{
+		line_t *line = seg->linedef;
+		divline_t divl;
+		const vertex_t *v1,*v2;
+
+		if (seg->glseg)
+			continue;
+
+		// already checked other side?
+		if (line->validcount == validcount)
+			continue;
+
+		line->validcount = validcount;
+
+		// OPTIMIZE: killough 4/20/98: Added quick bounding-box rejection test
+		if (line->bbox[BOXLEFT  ] > tb->bbox[BOXRIGHT ] ||
+			line->bbox[BOXRIGHT ] < tb->bbox[BOXLEFT  ] ||
+			line->bbox[BOXBOTTOM] > tb->bbox[BOXTOP   ] ||
+			line->bbox[BOXTOP]    < tb->bbox[BOXBOTTOM])
+			continue;
+
+		v1 = line->v1;
+		v2 = line->v2;
+
+		// line isn't crossed?
+		if (P_DivlineSide(v1->x, v1->y, &tb->strace) ==
+			P_DivlineSide(v2->x, v2->y, &tb->strace))
+			continue;
+
+		// stop because it is not two sided anyway
+		if (!(line->flags & ML_TWOSIDED))
+			return false;
+
+		divl.dx = v2->x - (divl.x = v1->x);
+		divl.dy = v2->y - (divl.y = v1->y);
+
+		// line isn't crossed?
+		if (P_DivlineSide(tb->strace.x, tb->strace.y, &divl) ==
+			P_DivlineSide(tb->t2x, tb->t2y, &divl))
+			continue;
+
+		if (P_IsLineBlocking(line, tb->compareThing) == true)
+		{
+			// This line will block us
+			return false;
+		}
+	}
+
+	// passed the subsector ok
+	return true;
+}
+
+static boolean P_CrossBSPNodeBlocking(INT32 bspnum, register traceblocking_t *tb)
+{
+	while (!(bspnum & NF_SUBSECTOR))
+	{
+		register node_t *bsp = nodes + bspnum;
+		INT32 side = P_DivlineSide(tb->strace.x,tb->strace.y,(divline_t *)bsp)&1;
+		if (side == P_DivlineSide(tb->t2x, tb->t2y, (divline_t *) bsp))
+			bspnum = bsp->children[side]; // doesn't touch the other side
+		else         // the partition plane is crossed here
+		{
+			if (!P_CrossBSPNodeBlocking(bsp->children[side], tb))
+				return false;  // cross the starting side
+			else
+				bspnum = bsp->children[side^1];  // cross the ending side
+		}
+	}
+
+	return P_CrossBlockingSubsector((bspnum == -1 ? 0 : bspnum & ~NF_SUBSECTOR), tb);
+}
+
+boolean P_TraceBlockingLines(mobj_t *t1, mobj_t *t2)
+{
+	const sector_t *s1, *s2;
+	size_t pnum;
+	traceblocking_t tb;
+
+	// First check for trivial rejection.
+	if (!t1 || !t2)
+		return false;
+
+	I_Assert(!P_MobjWasRemoved(t1));
+	I_Assert(!P_MobjWasRemoved(t2));
+
+	if (!t1->subsector || !t2->subsector
+	|| !t1->subsector->sector || !t2->subsector->sector)
+		return false;
+
+	s1 = t1->subsector->sector;
+	s2 = t2->subsector->sector;
+	pnum = (s1-sectors)*numsectors + (s2-sectors);
+
+	if (rejectmatrix != NULL)
+	{
+		// Check in REJECT table.
+		if (rejectmatrix[pnum>>3] & (1 << (pnum&7))) // can't possibly be connected
+			return false;
+	}
+
+	// killough 11/98: shortcut for melee situations
+	// same subsector? obviously visible
+	// haleyjd 02/23/06: can't do this if there are polyobjects in the subsec
+	if (!t1->subsector->polyList &&
+		t1->subsector == t2->subsector)
+		return true;
+
+	validcount++;
+
+	tb.strace.dx = (tb.t2x = t2->x) - (tb.strace.x = t1->x);
+	tb.strace.dy = (tb.t2y = t2->y) - (tb.strace.y = t1->y);
+
+	if (t1->x > t2->x)
+		tb.bbox[BOXRIGHT] = t1->x, tb.bbox[BOXLEFT] = t2->x;
+	else
+		tb.bbox[BOXRIGHT] = t2->x, tb.bbox[BOXLEFT] = t1->x;
+
+	if (t1->y > t2->y)
+		tb.bbox[BOXTOP] = t1->y, tb.bbox[BOXBOTTOM] = t2->y;
+	else
+		tb.bbox[BOXTOP] = t2->y, tb.bbox[BOXBOTTOM] = t1->y;
+
+	tb.compareThing = t1;
+
+	// the head node is the last node output
+	return P_CrossBSPNodeBlocking((INT32)numnodes - 1, &tb);
+}