Nav Mesh Agent Set Destination#

using System;
using UnityEngine;
using UnityEngine.AI;
using VisualScript.Icons;

namespace VisualScript.Runtime
{
    [Title("Nav Mesh Agent Set Destination")]
    [Category("Navigation/Nav Mesh Agent/Set Destination")]
    [Description("Calculates a path to the destination and moves the Nav Mesh Agent along it")]

    [Image(typeof(IconNavmeshAgent), ColorTheme.Type.Red)]
    [Keywords("Navigation", "NavMesh", "AI", "Pathfinding", "Agent", "Move", "Go", "Walk")]

    [Parameter("Nav Mesh Agent", "The Nav Mesh Agent component that moves")]
    [Parameter("Destination", "The position the Nav Mesh Agent tries to reach")]
    [Parameter("Wait to Arrive", "Waits until the Nav Mesh Agent reaches the destination, the end of the closest path it found, or can no longer move")]

    [Serializable]
    public class InstructionNavMeshAgentSetDestination : Instruction
    {
        [SerializeField] private GetGameObject m_NavMeshAgent = new GetGameObject(
            new GenTypeGameObject_NavMeshAgent()
        );

        [SerializeField] private GetVector3 m_Destination = new GetVector3();
        [SerializeField] private bool m_WaitToArrive;

        [NonSerialized] private NavMeshAgent m_Agent;
        [NonSerialized] private Func<bool> m_CallHasArrived;

        protected override string GetTitle(GameObject source)
        {
            string method = TextUtils.ThemeAsKeyword("Set Destination");
            return $"{this.m_NavMeshAgent} {method} ({this.m_Destination})";
        }

        protected override async Awaitable Run(Args args)
        {
            NavMeshAgent agent = this.m_NavMeshAgent.Get<NavMeshAgent>(args);
            if (agent == null) return;

            if (!agent.SetDestination(this.m_Destination.Get(args))) return;
            if (!this.m_WaitToArrive) return;

            this.m_Agent = agent;
            this.m_CallHasArrived ??= this.HasArrived;

            await this.Until(this.m_CallHasArrived);
            this.m_Agent = null;
        }

        private bool HasArrived()
        {
            NavMeshAgent agent = this.m_Agent;

            if (agent == null || !agent.isActiveAndEnabled || !agent.isOnNavMesh) return true;
            if (agent.pathPending) return false;
            if (agent.pathStatus == NavMeshPathStatus.PathInvalid) return true;

            return agent.remainingDistance <= agent.stoppingDistance;
        }
    }
}