diff --git a/godot/AI/new_goal.tres b/godot/AI/new_goal.tres
new file mode 100644
index 0000000..b16a917
--- /dev/null
+++ b/godot/AI/new_goal.tres
@@ -0,0 +1,6 @@
+[gd_resource type="Goal" format=3 uid="uid://b4i4e34046n44"]
+
+[resource]
+desired_state_dict = {
+"goal1": true
+}
diff --git a/godot/GameObjects/ground_goal_marker.tscn b/godot/GameObjects/ground_goal_marker.tscn
new file mode 100644
index 0000000..02c0b71
--- /dev/null
+++ b/godot/GameObjects/ground_goal_marker.tscn
@@ -0,0 +1,24 @@
+[gd_scene load_steps=4 format=3 uid="uid://btnlq0xajbfit"]
+
+[sub_resource type="Goal" id="Goal_nmxy4"]
+desired_state_dict = {
+"is_at_target": true
+}
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_t1mgt"]
+albedo_color = Color(0.596078, 0.745098, 0.635294, 1)
+
+[sub_resource type="CylinderMesh" id="CylinderMesh_4i5c2"]
+material = SubResource("StandardMaterial3D_t1mgt")
+height = 0.1
+
+[node name="GroundGoalMarker" type="GoalMarker"]
+goal = SubResource("Goal_nmxy4")
+transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, -2.38494, 0, -2.58246)
+disable_mode = 1
+collision_layer = 0
+collision_mask = 0
+input_ray_pickable = false
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="."]
+mesh = SubResource("CylinderMesh_4i5c2")
diff --git a/godot/GameObjects/player_camera.tscn b/godot/GameObjects/player_camera.tscn
index 1fb9bdc..ce7a9e9 100644
--- a/godot/GameObjects/player_camera.tscn
+++ b/godot/GameObjects/player_camera.tscn
@@ -1,9 +1,12 @@
-[gd_scene load_steps=2 format=3 uid="uid://bmm2quy62exfr"]
+[gd_scene load_steps=3 format=3 uid="uid://bmm2quy62exfr"]
+
+[ext_resource type="PackedScene" uid="uid://btnlq0xajbfit" path="res://GameObjects/ground_goal_marker.tscn" id="1_t46fa"]
 
 [sub_resource type="CylinderMesh" id="CylinderMesh_hd6t5"]
 height = 0.1
 
 [node name="PlayerCamera" type="RTSPlayer"]
+ground_marker_scene = ExtResource("1_t46fa")
 
 [node name="Camera3D" type="Camera3D" parent="."]
 transform = Transform3D(-1, 7.57103e-08, -4.37114e-08, 0, 0.5, 0.866025, 8.74228e-08, 0.866025, -0.5, 0, 5.86004, -2.59394)
diff --git a/godot/GameObjects/unit.tscn b/godot/GameObjects/unit.tscn
new file mode 100644
index 0000000..33831dd
--- /dev/null
+++ b/godot/GameObjects/unit.tscn
@@ -0,0 +1,32 @@
+[gd_scene load_steps=4 format=3 uid="uid://pme230qx1377"]
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_n4q15"]
+albedo_color = Color(0.407843, 1, 0.447059, 1)
+
+[sub_resource type="CapsuleMesh" id="CapsuleMesh_5r0b3"]
+material = SubResource("StandardMaterial3D_n4q15")
+
+[sub_resource type="SphereShape3D" id="SphereShape3D_drlm2"]
+radius = 1.0
+
+[node name="Unit" type="Unit"]
+collision_layer = 2
+collision_mask = 0
+
+[node name="ActorWorldState" type="UnitWorldState" parent="."]
+
+[node name="Planner" type="Planner" parent="."]
+actions = [0, 1, 2]
+
+[node name="NavigationAgent3D" type="NavigationAgent3D" parent="."]
+target_desired_distance = 0.25
+
+[node name="AnimationPlayer" type="AnimationPlayer" parent="."]
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0)
+mesh = SubResource("CapsuleMesh_5r0b3")
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0)
+shape = SubResource("SphereShape3D_drlm2")
diff --git a/godot/Levels/test_level.tscn b/godot/Levels/test_level.tscn
index e156914..4c38fca 100644
--- a/godot/Levels/test_level.tscn
+++ b/godot/Levels/test_level.tscn
@@ -1,7 +1,17 @@
-[gd_scene load_steps=4 format=3 uid="uid://c62s1jmtgajjk"]
+[gd_scene load_steps=7 format=3 uid="uid://c62s1jmtgajjk"]
 
 [ext_resource type="PackedScene" uid="uid://dsalxxq3xs842" path="res://rts_game_mode.tscn" id="1_4nchg"]
 [ext_resource type="Environment" uid="uid://cnfk8yrvklysq" path="res://Environments/default_environment.tres" id="2_jq6bw"]
+[ext_resource type="PackedScene" uid="uid://pme230qx1377" path="res://GameObjects/unit.tscn" id="3_wl7wm"]
+
+[sub_resource type="NavigationMesh" id="NavigationMesh_8a2j6"]
+vertices = PackedVector3Array(-4.5, 0.4, -4.5, -4.5, 0.4, 4.5, 4.5, 0.4, 4.5, 4.5, 0.4, -4.5)
+polygons = [PackedInt32Array(3, 2, 0), PackedInt32Array(0, 2, 1)]
+geometry_parsed_geometry_type = 1
+geometry_collision_mask = 4294967289
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_ubt1u"]
+size = Vector3(10, 0.1, 10)
 
 [sub_resource type="PlaneMesh" id="PlaneMesh_hohcb"]
 size = Vector2(10, 10)
@@ -12,10 +22,23 @@ game_mode_prototype = ExtResource("1_4nchg")
 [node name="WorldEnvironment" type="WorldEnvironment" parent="."]
 environment = ExtResource("2_jq6bw")
 
+[node name="NavigationRegion3D" type="NavigationRegion3D" parent="WorldEnvironment"]
+navigation_mesh = SubResource("NavigationMesh_8a2j6")
+
+[node name="StaticBody3D" type="StaticBody3D" parent="WorldEnvironment/NavigationRegion3D"]
+collision_layer = 5
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="WorldEnvironment/NavigationRegion3D/StaticBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.05, 0)
+shape = SubResource("BoxShape3D_ubt1u")
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="WorldEnvironment/NavigationRegion3D/StaticBody3D"]
+mesh = SubResource("PlaneMesh_hohcb")
+skeleton = NodePath("../../../..")
+
 [node name="DirectionalLight3D" type="DirectionalLight3D" parent="WorldEnvironment"]
 transform = Transform3D(-0.030678, -0.932282, 0.36043, 0, 0.360599, 0.932721, -0.999529, 0.028614, -0.0110625, 0, 1.28927, 0)
 light_color = Color(1, 0.926667, 0.78, 1)
 
-[node name="MeshInstance3D" type="MeshInstance3D" parent="WorldEnvironment"]
-mesh = SubResource("PlaneMesh_hohcb")
-skeleton = NodePath("../..")
+[node name="Unit" parent="." instance=ExtResource("3_wl7wm")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1.7165, 1.8999e-07, 3.29106)
diff --git a/godot/project.godot b/godot/project.godot
index 334a1e3..8258e28 100644
--- a/godot/project.godot
+++ b/godot/project.godot
@@ -62,3 +62,9 @@ rotate_right={
 "events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":69,"key_label":0,"unicode":101,"echo":false,"script":null)
 ]
 }
+
+[layer_names]
+
+3d_physics/layer_1="Default"
+3d_physics/layer_2="Units"
+3d_physics/layer_3="Objects"
diff --git a/src/goal_marker.cpp b/src/goal_marker.cpp
new file mode 100644
index 0000000..f1da7cb
--- /dev/null
+++ b/src/goal_marker.cpp
@@ -0,0 +1,21 @@
+#include "goal_marker.hpp"
+#include "utils/godot_macros.hpp"
+#include <godot_cpp/classes/global_constants.hpp>
+#include <godot_cpp/classes/node.hpp>
+
+void GoalMarker::_bind_methods() {
+#define CLASSNAME GoalMarker
+    GDPROPERTY_HINTED(goal, gd::Variant::OBJECT, gd::PROPERTY_HINT_RESOURCE_TYPE, "Goal");
+}
+
+void GoalMarker::destroy_on_forgotten() {
+    callable_mp(gd::Object::cast_to<gd::Node>(this), &gd::Node::queue_free).call_deferred();
+}
+
+void GoalMarker::set_goal(gd::Ref<goap::Goal> goal) {
+    this->goal = goal;
+}
+
+gd::Ref<goap::Goal> GoalMarker::get_goal() const {
+    return this->goal;
+}
diff --git a/src/goal_marker.hpp b/src/goal_marker.hpp
new file mode 100644
index 0000000..17a0dc7
--- /dev/null
+++ b/src/goal_marker.hpp
@@ -0,0 +1,21 @@
+#ifndef GOAL_MARKER_HPP
+#define GOAL_MARKER_HPP
+
+#include "goap/goal.hpp"
+#include "godot_cpp/classes/static_body3d.hpp"
+#include <godot_cpp/classes/node3d.hpp>
+
+namespace gd = godot;
+
+class GoalMarker : public gd::StaticBody3D {
+    GDCLASS(GoalMarker, gd::StaticBody3D);
+    static void _bind_methods();
+public:
+    void destroy_on_forgotten();
+    void set_goal(gd::Ref<goap::Goal> goal);
+    gd::Ref<goap::Goal> get_goal() const;
+private:
+    gd::Ref<goap::Goal> goal{};
+};
+
+#endif // !GOAL_MARKER_HPP
diff --git a/src/goap/action.hpp b/src/goap/action.hpp
index b3336f8..9267be3 100644
--- a/src/goap/action.hpp
+++ b/src/goap/action.hpp
@@ -9,8 +9,8 @@
 
 #define GOAP_ACTION(Name_) \
 public: \
-    _FORCE_INLINE_ static gd::String get_static_class() { return #Name_; }\
-    _FORCE_INLINE_ virtual gd::String get_class() const override { return #Name_; }\
+    _FORCE_INLINE_ static gd::StringName get_static_class() { return #Name_; }\
+    _FORCE_INLINE_ virtual gd::StringName get_class() const override { return #Name_; }\
 private:
 
 namespace goap {
@@ -23,11 +23,11 @@ typedef int ActionID;
 class Action {
     friend class ActionDB;
 public:
-    static gd::String get_static_class() { return "Action"; }
-    virtual gd::String get_class() const { return "Action"; }
+    static gd::StringName get_static_class() { return "Action"; }
+    virtual gd::StringName get_class() const { return "Action"; }
 
     virtual ~Action();
-    virtual State *get_apply_state() const = 0;
+    virtual State *get_apply_state(ActorWorldState *context) const = 0;
 
     bool is_completed(ActorWorldState *context) const;
     bool is_possible(ActorWorldState *context) const;
@@ -38,7 +38,8 @@ public:
     ActionID get_id() const;
 protected:
     Action() = default;
-
+    template<class TState>
+    TState *create_state() const;
     virtual bool procedural_is_possible(ActorWorldState *context) const;
     virtual bool procedural_is_completed(ActorWorldState *context) const;
 protected:
@@ -49,6 +50,13 @@ protected:
 private:
     ActionID id{-1};
 };
+
+template <class TState>
+TState *Action::create_state() const {
+    TState *state = memnew(TState);
+    state->action = this;
+    return state;
+}
 }
 
 #endif // !GOAP_ACTION_HPP
diff --git a/src/goap/planner.cpp b/src/goap/planner.cpp
index 7a86268..178e5b2 100644
--- a/src/goap/planner.cpp
+++ b/src/goap/planner.cpp
@@ -1,5 +1,6 @@
 #include "planner.hpp"
 #include "action_db.hpp"
+#include "godot_cpp/classes/engine.hpp"
 #include "godot_cpp/classes/global_constants.hpp"
 #include "godot_cpp/templates/hashfuncs.hpp"
 #include "utils/godot_macros.hpp"
@@ -106,49 +107,58 @@ Plan Planner::plan_for_goal(gd::Ref<Goal> goal) {
         return {};
     }
     gd::Vector<WorldStateNode> open{goal_node};
-    NodeMap from{};
-    NodeScoreMap best_path_cost{};
-    NodeScoreMap heuristic_cost{};
+    NodeMap from{}; // mapping nodes to the next node in the plan
+    NodeScoreMap best_path_cost{}; // map nodes to the cost of the best path found so far
+    NodeScoreMap heuristic_cost{}; // map nodes to their approximate cost to get to their goal
 
+    // insert with the goal node into the cost maps,
+    // path scored 0 as it's the goal
     best_path_cost.insert(goal_node, 0.f);
     heuristic_cost.insert(goal_node, goal_node.requirements_unmet());
 
     WorldStateNode current{goal_node};
+    // repeat until current has no traversible edges
     while(!open.is_empty()) {
         current = open.get(0);
+        // return found path when all requirements are met
         if(current.requirements_unmet() == 0)
             return this->unroll_plan(current, from);
-        open.remove_at(0);
+        open.remove_at(0); // pop current off the top of the open set
+        // get all actions that contribute to the open requirements of `current`
         gd::Vector<Action const *> edges{this->get_neighbours(current)};
-        gd::UtilityFunctions::print("found ", edges.size(), " possible actions");
         for(Action const * action : edges) {
+            // construct the node produced by traversing edge
             WorldStateNode node_through{current, action};
+            // calculate the cost of getting here from current through action.
             float const path_cost{best_path_cost.get(current) + 1.f};
-            gd::UtilityFunctions::print("hashes ", WorldStateNodeHasher::hash(node_through), " ; ", WorldStateNodeHasher::hash(current));
-            gd::UtilityFunctions::print("equiv: ", current == node_through);
+            // store only if path through `current` represents a new fastest way to get to the new node
             if(!best_path_cost.has(node_through) || best_path_cost.get(node_through) >= path_cost) {
-                gd::UtilityFunctions::print("node through action ", action->get_class(), " added to open set");
+                // update cheapest route found
                 best_path_cost[node_through] = path_cost;
+                // approximate cost to goal
                 heuristic_cost[node_through] = path_cost + node_through.requirements_unmet();
+                // store path to get to this point
                 from[node_through] = current;
-                open.erase(node_through);
+                // (re-) insert node according to priority based on unmet requirements
+                if(open.has(node_through))
+                    open.erase(node_through);
                 open.ordered_insert(node_through);
-            } else {
-                gd::UtilityFunctions::print("node through action ", action->get_class(), " scores worse than previous at same state. ", path_cost, " vs ", best_path_cost[node_through]);
             }
         }
     }
 
-    gd::UtilityFunctions::print("failed to find plan for goal ", goal->get_path());
+    gd::UtilityFunctions::push_warning("failed to find plan for goal ", goal->get_path());
     return {};
 }
 
 void Planner::set_actions(gd::Array array) {
     this->actions.clear();
     for(size_t i = 0; i < array.size(); ++i) {
-        Action const *action = ActionDB::get_action(array[i]);
+        Action const *action = int(array[i]) < 0 ? nullptr : ActionDB::get_action(array[i]);
         if(action != nullptr && !this->actions.has(action)) {
             this->actions.push_back(action);
+        } else if(gd::Engine::get_singleton()->is_editor_hint() && !this->actions.has(nullptr)) {
+            this->actions.push_back(nullptr);
         }
     }
 }
@@ -156,7 +166,7 @@ void Planner::set_actions(gd::Array array) {
 gd::Array Planner::get_actions() const {
     gd::Array array{};
     for(Action const *action : this->actions)
-        array.push_back(action->get_id());
+        array.push_back(action == nullptr ? -1 : action->get_id());
     return array;
 }
 
diff --git a/src/goap/planner.hpp b/src/goap/planner.hpp
index 9db68f3..a034fe9 100644
--- a/src/goap/planner.hpp
+++ b/src/goap/planner.hpp
@@ -7,7 +7,6 @@
 #include <cstdint>
 #include <godot_cpp/classes/node.hpp>
 #include <godot_cpp/templates/vector.hpp>
-#include <godot_cpp/variant/packed_int32_array.hpp>
 
 namespace gd = godot;
 
@@ -25,7 +24,7 @@ struct WorldStateNode {
     WorldStateNode(WorldStateNode const &last_state, Action const *last_action);
     ~WorldStateNode() = default;
     int requirements_unmet() const;
-    WorldState state{};
+    WorldState state{}; // the only part considered in hashing
     WorldState open_requirements{};
     Action const *last_action{nullptr};
     ActorWorldState *context;
diff --git a/src/goap/state.cpp b/src/goap/state.cpp
index 65df71d..6660604 100644
--- a/src/goap/state.cpp
+++ b/src/goap/state.cpp
@@ -1,32 +1,33 @@
 #include "state.hpp"
+#include "goap/action.hpp"
+#include "goap/actor_world_state.hpp"
+#include "utils/godot_macros.hpp"
 
 namespace goap {
-void State::_bind_methods() {}
-
-void MoveTo::_bind_methods() {}
-
-void MoveTo::_enter_tree() {
-    this->agent = this->get_node<gd::NavigationAgent3D>("../NavigationAgent3D");
-    this->agent->set_target_position(this->target_node->get_global_position());
-    this->parent_node3d = Object::cast_to<gd::Node3D>(this->get_parent());
+void State::_bind_methods() {
+#define CLASSNAME State
+    GDSIGNAL("end_state");
 }
 
-void MoveTo::_exit_tree() {
-    this->agent->set_target_position(this->parent_node3d->get_global_position());
+void State::_enter_tree() {
+    this->world_state = this->get_node<ActorWorldState>("../ActorWorldState");
 }
 
-void MoveTo::_process(double delta_time) {
-    gd::Vector3 const pos = this->parent_node3d->get_global_position();
-    gd::Vector3 const target = this->agent->get_next_path_position();
-    gd::Vector3 const direction = (target - pos).normalized();
-    this->parent_node3d->set_global_position(direction * delta_time);
-    this->parent_node3d->look_at(pos - gd::Vector3{direction.x, 0.f, direction.z});
-
-    if(this->agent->is_navigation_finished())
-        this->queue_free();
+void State::_process(double delta_time) {
+    if(this->action->is_completed(this->world_state)) {
+        this->end_state();
+    }
 }
 
-void Activate::_bind_methods() {}
-
-void Animate::_bind_methods() {}
+Action const *State::get_action() const {
+    return this->action;
+}
+
+void State::_end_state() {}
+
+void State::end_state() {
+    this->_end_state();
+    this->queue_free();
+    this->emit_signal("end_state");
+}
 }
diff --git a/src/goap/state.hpp b/src/goap/state.hpp
index 2edb220..96d275a 100644
--- a/src/goap/state.hpp
+++ b/src/goap/state.hpp
@@ -1,47 +1,29 @@
 #ifndef GOAP_STATE_HPP
 #define GOAP_STATE_HPP
 
-#include "godot_cpp/classes/navigation_agent3d.hpp"
+#include "goap/actor_world_state.hpp"
 #include <godot_cpp/classes/node.hpp>
 #include <godot_cpp/classes/node3d.hpp>
 
 namespace gd = godot;
 
 namespace goap {
-class State : public gd::Node {
-    GDCLASS(State, gd::Node);
-    static void _bind_methods();
-};
+class Action;
 
-/*! Uses navigation to chase the desired target node.
- */
-class MoveTo : public State {
-    GDCLASS(MoveTo, State);
+class State : public gd::Node {
+friend class Action;
+    GDCLASS(State, gd::Node);
     static void _bind_methods();
 public:
     virtual void _enter_tree() override;
-    virtual void _exit_tree() override;
     virtual void _process(double delta_time) override;
-public:
-    gd::Node3D *target_node{nullptr};
+protected:
+    Action const *get_action() const;
+    virtual void _end_state();
+    void end_state();
 private:
-    gd::Node3D *parent_node3d{nullptr};
-    gd::NavigationAgent3D *agent{nullptr};
-};
-
-class Activate : public State {
-    GDCLASS(Activate, State);
-    static void _bind_methods();
-public:
-    gd::Node3D *target_node{nullptr};
-    gd::String animation{};
-};
-
-class Animate : public State {
-    GDCLASS(Animate, State);
-    static void _bind_methods();
-public:
-    gd::String animation{};
+    ActorWorldState *world_state{nullptr};
+    Action const *action{nullptr};
 };
 }
 
diff --git a/src/register_types.cpp b/src/register_types.cpp
index f8200ae..d961c8e 100644
--- a/src/register_types.cpp
+++ b/src/register_types.cpp
@@ -1,12 +1,16 @@
 #include "register_types.h"
+#include "goap/state.hpp"
+#include "rts_actions.hpp"
+#include "rts_game_mode.hpp"
+#include "rts_player.hpp"
+#include "rts_states.hpp"
+#include "unit.hpp"
+#include "unit_world_state.hpp"
 #include "goap/action.hpp"
 #include "goap/action_db.hpp"
 #include "goap/actor_world_state.hpp"
 #include "goap/goal.hpp"
 #include "goap/planner.hpp"
-#include "rts_game_mode.hpp"
-#include "rts_player.hpp"
-#include "unit.hpp"
 #include "utils/register_types.hpp"
 #include <gdextension_interface.h>
 #include <godot_cpp/core/class_db.hpp>
@@ -24,14 +28,24 @@ void initialize_gdextension_types(ModuleInitializationLevel p_level)
 
     // always register actions before classes,
     // so that ActionDB::get_enum_hint is complete before _bind_methods
-
-    ClassDB::register_class<RTSPlayer>();
-    ClassDB::register_class<Unit>();
-    ClassDB::register_class<RTSGameMode>();
+    goap::ActionDB::register_action<MoveToTarget>();
+    goap::ActionDB::register_action<FireAtTarget>();
+    goap::ActionDB::register_action<FindTarget>();
 
     ClassDB::register_class<goap::ActorWorldState>();
     ClassDB::register_class<goap::Goal>();
     ClassDB::register_class<goap::Planner>();
+    ClassDB::register_class<goap::State>();
+
+    ClassDB::register_class<MoveTo>();
+    ClassDB::register_class<Animate>();
+    ClassDB::register_class<Activate>();
+
+    ClassDB::register_class<UnitWorldState>();
+    ClassDB::register_class<GoalMarker>();
+    ClassDB::register_class<Unit>();
+    ClassDB::register_class<RTSGameMode>();
+    ClassDB::register_class<RTSPlayer>();
 }
 
 extern "C"
diff --git a/src/rts_actions.cpp b/src/rts_actions.cpp
new file mode 100644
index 0000000..88cdcc4
--- /dev/null
+++ b/src/rts_actions.cpp
@@ -0,0 +1,47 @@
+#include "rts_actions.hpp"
+#include "rts_states.hpp"
+#include "goap/actor_world_state.hpp"
+#include "goap/state.hpp"
+#include <godot_cpp/core/memory.hpp>
+#include <godot_cpp/variant/utility_functions.hpp>
+
+MoveToTarget::MoveToTarget()
+: Action() {
+    effects.insert("is_at_target", true);
+}
+
+goap::State *MoveToTarget::get_apply_state(goap::ActorWorldState *context) const {
+    gd::Node3D *target = gd::Object::cast_to<gd::Node3D>(context->get_world_property("target_node"));
+    if(target == nullptr) {
+        gd::UtilityFunctions::push_warning("Failed to get target node of action ", get_static_class());
+        return nullptr;
+    } else {
+        MoveTo *state = this->create_state<MoveTo>();
+        state->target_node = target;
+        return state;
+    }
+}
+
+FireAtTarget::FireAtTarget()
+: Action() {
+    effects.insert("target_dead", true);
+    required.insert("can_see_target", true);
+}
+
+goap::State *FireAtTarget::get_apply_state(goap::ActorWorldState *context) const {
+    Animate *state = memnew(Animate);
+    state->animation = "fire_weapon";
+    return state;
+}
+
+FindTarget::FindTarget()
+: Action() {
+    effects.insert("can_see_target", true);
+}
+
+goap::State *FindTarget::get_apply_state(goap::ActorWorldState *context) const {
+    gd::Node3D *target = gd::Object::cast_to<gd::Node3D>(context->get_world_property("target_node"));
+    MoveTo *state = memnew(MoveTo);
+    state->target_node = target;
+    return state;
+}
diff --git a/src/rts_actions.hpp b/src/rts_actions.hpp
new file mode 100644
index 0000000..8238a8e
--- /dev/null
+++ b/src/rts_actions.hpp
@@ -0,0 +1,28 @@
+#ifndef RTS_ACTIONS_HPP
+#define RTS_ACTIONS_HPP
+
+#include "goap/action.hpp"
+#include "goap/actor_world_state.hpp"
+
+class MoveToTarget : public goap::Action {
+    GOAP_ACTION(MoveToTarget);
+public:
+    MoveToTarget();
+    virtual goap::State *get_apply_state(goap::ActorWorldState *context) const override;
+};
+
+class FireAtTarget : public goap::Action {
+    GOAP_ACTION(FireAtTarget);
+public:
+    FireAtTarget();
+    virtual goap::State *get_apply_state(goap::ActorWorldState *context) const override;
+};
+
+class FindTarget : public goap::Action {
+    GOAP_ACTION(FindTarget);
+public:
+    FindTarget();
+    virtual goap::State *get_apply_state(goap::ActorWorldState *context) const override;
+};
+
+#endif // !RTS_ACTIONS_HPP
diff --git a/src/rts_player.cpp b/src/rts_player.cpp
index 960b13e..0a0aa9b 100644
--- a/src/rts_player.cpp
+++ b/src/rts_player.cpp
@@ -1,8 +1,25 @@
 #include "rts_player.hpp"
+#include "goal_marker.hpp"
+#include "godot_cpp/variant/utility_functions.hpp"
+#include "unit.hpp"
+#include "utils/godot_macros.hpp"
+#include "utils/level.hpp"
+#include "utils/util_functions.hpp"
+#include <godot_cpp/classes/packed_scene.hpp>
+#include <godot_cpp/classes/physics_direct_space_state3d.hpp>
+#include <godot_cpp/classes/physics_direct_space_state3d.hpp>
+#include <godot_cpp/classes/physics_ray_query_parameters3d.hpp>
+#include <godot_cpp/classes/viewport.hpp>
+#include <godot_cpp/classes/world3d.hpp>
 #include <godot_cpp/variant/callable_method_pointer.hpp>
 
 void RTSPlayer::_bind_methods() {
 #define CLASSNAME RTSPlayer
+    GDPROPERTY_HINTED(ground_marker_scene, gd::Variant::OBJECT, gd::PROPERTY_HINT_RESOURCE_TYPE, "PackedScene");
+}
+
+void RTSPlayer::_ready() {
+    this->camera = this->get_node<gd::Camera3D>("Camera3D");
 }
 
 void RTSPlayer::_process(double delta_time) {
@@ -13,6 +30,7 @@ void RTSPlayer::_process(double delta_time) {
     this->camera_mouse_motion = {0.f, 0.f};
     this->rotate(gd::Vector3{0.f, 1.f, 0.f}, camera_mouse_rotation * this->camera_mouse_rotation_speed);
     this->camera_mouse_rotation = 0.f;
+    this->process_mouse();
 }
 
 void RTSPlayer::setup_player_input(utils::PlayerInput *input) {
@@ -34,11 +52,74 @@ void RTSPlayer::spawn_at_position(gd::Transform3D const &at) {
     this->set_global_transform(at);
 }
 
+void RTSPlayer::process_mouse() {
+    gd::Viewport *view = this->get_viewport();
+    gd::Vector2 const pix_coords = view->get_mouse_position();
+    this->cursor_camera_normal = this->camera->project_ray_normal(pix_coords);
+}
+
 void RTSPlayer::move(gd::Vector2 motion) {
     gd::Vector3 pos = this->get_global_position();
     this->set_global_position(pos + this->get_forward_direction() * motion.y + this->get_left_direction() * motion.x);
 }
 
+gd::Dictionary RTSPlayer::raycast_from_cursor(uint32_t layers) const {
+    gd::Vector3 const origin = this->camera->get_global_position();
+    gd::Vector3 const destination = origin + this->cursor_camera_normal * 1000.f;
+    gd::Ref<gd::PhysicsRayQueryParameters3D> const query{gd::PhysicsRayQueryParameters3D::create(origin, destination, layers)};
+    gd::PhysicsDirectSpaceState3D *state = this->get_world_3d()->get_direct_space_state();
+    return state->intersect_ray(query);
+}
+
+gd::Node3D *RTSPlayer::node_under_cursor(uint32_t layers) const {
+    gd::Dictionary result = this->raycast_from_cursor(layers);
+    if(!result.is_empty())
+        gd::UtilityFunctions::print("Found object ", Object::cast_to<gd::Node>(result["collider"])->get_path());
+    else
+        gd::UtilityFunctions::print("No object found");
+    return result.is_empty() ? nullptr : Object::cast_to<gd::Node3D>(result["collider"]);
+}
+
+void RTSPlayer::select_unit_under_cursor() {
+    Unit *unit = Object::cast_to<Unit>(this->node_under_cursor(0x2));
+    if(unit != nullptr)
+        this->select_unit(unit);
+}
+
+void RTSPlayer::order_activate_object_under_cursor() {
+    if(this->selected_unit == nullptr)
+        return;
+    gd::Dictionary const dict = this->raycast_from_cursor(0x4);
+    if(dict.is_empty())
+        return;
+    gd::Node3D *hit = gd::Object::cast_to<gd::Node3D>(dict["collider"]);
+    GoalMarker *marker = gd::Object::cast_to<GoalMarker>(hit);
+    bool const is_temporary_marker = marker == nullptr;
+    if(is_temporary_marker) {
+        marker = gd::Object::cast_to<GoalMarker>(this->ground_marker_scene->instantiate());
+        this->add_child(marker);
+        marker->set_as_top_level(true);
+        marker->set_global_position(dict["position"]);
+    }
+    this->selected_unit->plan_for_marker(marker);
+    if(is_temporary_marker) {
+        this->selected_unit->get_world_state()->connect("attention_changed", callable_mp(marker, &GoalMarker::destroy_on_forgotten));
+    }
+}
+
+void RTSPlayer::clear_selected_unit() {
+    if(this->selected_unit != nullptr) {
+        this->selected_unit->disconnect("tree_exited", this->unit_destroyed_callable());
+        this->selected_unit = nullptr;
+    }
+}
+
+void RTSPlayer::select_unit(Unit *unit) {
+    this->clear_selected_unit();
+    this->selected_unit = unit;
+    unit->connect("tree_exited", this->unit_destroyed_callable());
+}
+
 void RTSPlayer::on_mouse_horizontal(gd::Ref<gd::InputEvent> event, float value) {
     if(this->mmb_down)
         this->camera_mouse_motion.x = value;
@@ -64,10 +145,18 @@ void RTSPlayer::on_rotate_horizontal(gd::Ref<gd::InputEvent> event, float value)
 }
 
 void RTSPlayer::on_rclick(gd::Ref<gd::InputEvent> event, float value) {
+    gd::UtilityFunctions::print("on_rclick on ", this->get_path(), " ---------");
+    if(value == 0.f && !this->rmb_is_held())
+        this->order_activate_object_under_cursor();
     this->rmb_down = value != 0.f;
+    this->rmb_last_change = utils::time_seconds();
 }
 
 void RTSPlayer::on_lclick(gd::Ref<gd::InputEvent> event, float value) {
+    if(value == 0.f && !this->lmb_is_held())
+        this->select_unit_under_cursor();
+    this->lmb_down = value != 0.f;
+    this->lmb_last_change = utils::time_seconds();
 }
 
 void RTSPlayer::on_mclick(gd::Ref<gd::InputEvent> event, float value) {
@@ -83,3 +172,23 @@ gd::Vector3 RTSPlayer::get_left_direction() const {
     gd::Vector3 left = this->get_global_basis().get_column(0);
     return gd::Vector3{left.x, 0.f, left.z}.normalized();
 }
+
+bool RTSPlayer::lmb_is_held() {
+    return this->lmb_down && utils::time_seconds() >= (this->lmb_last_change + this->time_to_held);
+}
+
+bool RTSPlayer::rmb_is_held() {
+    return this->rmb_down && utils::time_seconds() >= (this->rmb_last_change + this->time_to_held);
+}
+
+gd::Callable RTSPlayer::unit_destroyed_callable() {
+    return callable_mp(this, &RTSPlayer::clear_selected_unit);
+}
+
+void RTSPlayer::set_ground_marker_scene(gd::Ref<gd::PackedScene> scene) {
+    this->ground_marker_scene = scene;
+}
+
+gd::Ref<gd::PackedScene> RTSPlayer::get_ground_marker_scene() const {
+    return this->ground_marker_scene;
+}
diff --git a/src/rts_player.hpp b/src/rts_player.hpp
index 08c9d6f..0d5316a 100644
--- a/src/rts_player.hpp
+++ b/src/rts_player.hpp
@@ -1,9 +1,13 @@
 #ifndef RTS_PLAYER_HPP
 #define RTS_PLAYER_HPP
 
+#include "godot_cpp/classes/camera3d.hpp"
 #include "godot_cpp/classes/input_event.hpp"
+#include "godot_cpp/classes/packed_scene.hpp"
+#include "unit.hpp"
 #include "utils/player.hpp"
 #include "utils/player_input.hpp"
+#include <cstdint>
 #include <godot_cpp/classes/node3d.hpp>
 
 namespace gd = godot;
@@ -13,13 +17,25 @@ class RTSPlayer : public gd::Node3D,
     GDCLASS(RTSPlayer, godot::Node3D);
     static void _bind_methods();
 public:
+    virtual void _ready() override;
     virtual void _process(double delta_time) override;
 
     virtual void setup_player_input(utils::PlayerInput *input) override;
     virtual Node *to_node() override;
     virtual void spawn_at_position(gd::Transform3D const &at) override;
 private:
+    //! process any changes to mouse position
+    void process_mouse();
+    //! move the camera along the ground
     void move(gd::Vector2 motion);
+    gd::Dictionary raycast_from_cursor(uint32_t layers = UINT32_MAX) const;
+    //! \return the first node from the camera under the cursor
+    gd::Node3D *node_under_cursor(uint32_t layers = UINT32_MAX) const;
+    //! add units under the cursor to this->selected_units
+    void select_unit_under_cursor();
+    void order_activate_object_under_cursor();
+    void clear_selected_unit();
+    void select_unit(Unit *unit);
 
     // input functions
     void on_mouse_horizontal(gd::Ref<gd::InputEvent> event, float value);
@@ -31,22 +47,39 @@ private:
     void on_rclick(gd::Ref<gd::InputEvent> event, float value);
     void on_mclick(gd::Ref<gd::InputEvent> event, float value);
 
-    // getters
+    // setters & getters
     gd::Vector3 get_forward_direction() const;
     gd::Vector3 get_left_direction() const;
+    bool lmb_is_held();
+    bool rmb_is_held();
+    gd::Callable unit_destroyed_callable();
+    void set_ground_marker_scene(gd::Ref<gd::PackedScene> scene);
+    gd::Ref<gd::PackedScene> get_ground_marker_scene() const;
 private:
+    Unit* selected_unit{nullptr};
+
     bool mmb_down{false};
+    bool lmb_down{false};
+    float lmb_last_change{0.f};
     bool rmb_down{false};
+    float rmb_last_change{0.f};
+
     gd::Vector2 camera_mouse_motion{0.f, 0.f};
     float camera_mouse_rotation{0.f};
-
     gd::Vector2 camera_keys_motion{0.f, 0.f};
     float camera_keys_rotation{0.f};
 
+    gd::Vector3 cursor_camera_normal{0.f, 0.f, 0.f};
+
+    gd::Camera3D *camera{nullptr};
+
+    gd::Ref<gd::PackedScene> ground_marker_scene{nullptr};
+
     float const camera_keys_speed{10.f};
     float const camera_keys_rotation_speed{1.f};
     float const camera_mouse_speed{0.01f};
     float const camera_mouse_rotation_speed{-0.003f};
+    double const time_to_held{0.1};
 };
 
 #endif // !RTS_PLAYER_HPP
diff --git a/src/rts_states.cpp b/src/rts_states.cpp
new file mode 100644
index 0000000..84abe7e
--- /dev/null
+++ b/src/rts_states.cpp
@@ -0,0 +1,31 @@
+#include "rts_states.hpp"
+#include "godot_cpp/variant/utility_functions.hpp"
+
+void MoveTo::_bind_methods() {}
+
+void MoveTo::_ready() {
+    gd::UtilityFunctions::print("_ready", this->get_path());
+    this->agent = this->get_node<gd::NavigationAgent3D>("../NavigationAgent3D");
+    this->agent->set_target_position(this->target_node->get_global_position());
+    this->parent_node3d = Object::cast_to<gd::Node3D>(this->get_parent());
+}
+
+void MoveTo::_end_state() {
+    gd::UtilityFunctions::print("_end_state on ", this->get_path());
+    this->agent->set_target_position(this->parent_node3d->get_global_position());
+}
+
+void MoveTo::_process(double delta_time) {
+    gd::Vector3 const pos = this->parent_node3d->get_global_position();
+    gd::Vector3 const target = this->agent->get_next_path_position();
+    gd::Vector3 const direction = (target - pos).normalized();
+    this->parent_node3d->set_global_position(pos + direction * delta_time);
+    this->parent_node3d->look_at(pos - gd::Vector3{direction.x, 0.f, direction.z});
+    if(this->agent->is_navigation_finished())
+        this->end_state();
+    State::_process(delta_time);
+}
+
+void Activate::_bind_methods() {}
+
+void Animate::_bind_methods() {}
diff --git a/src/rts_states.hpp b/src/rts_states.hpp
new file mode 100644
index 0000000..1395740
--- /dev/null
+++ b/src/rts_states.hpp
@@ -0,0 +1,38 @@
+#ifndef RTS_STATES_HPP
+#define RTS_STATES_HPP
+
+#include "goap/state.hpp"
+#include <godot_cpp/classes/navigation_agent3d.hpp>
+
+/*! Uses navigation to chase the desired target node.
+ */
+class MoveTo : public goap::State {
+    GDCLASS(MoveTo, goap::State);
+    static void _bind_methods();
+public:
+    virtual void _ready() override;
+    virtual void _end_state() override;
+    virtual void _process(double delta_time) override;
+public:
+    gd::Node3D *target_node{nullptr};
+private:
+    gd::Node3D *parent_node3d{nullptr};
+    gd::NavigationAgent3D *agent{nullptr};
+};
+
+class Activate : public goap::State {
+    GDCLASS(Activate, goap::State);
+    static void _bind_methods();
+public:
+    gd::Node3D *target_node{nullptr};
+    gd::String animation{};
+};
+
+class Animate : public goap::State {
+    GDCLASS(Animate, goap::State);
+    static void _bind_methods();
+public:
+    gd::String animation{};
+};
+
+#endif // !RTS_STATES_HPP
diff --git a/src/unit.cpp b/src/unit.cpp
index ecffd33..b987728 100644
--- a/src/unit.cpp
+++ b/src/unit.cpp
@@ -1,8 +1,70 @@
 #include "unit.hpp"
+#include "goap/goal.hpp"
+#include "godot_cpp/variant/callable_method_pointer.hpp"
+#include "godot_cpp/variant/utility_functions.hpp"
+#include "utils/godot_macros.hpp"
+#include <godot_cpp/classes/navigation_agent3d.hpp>
 
 void Unit::_bind_methods() {
 #define CLASSNAME Unit
 }
 
-void Unit::_enter_tree() {
+void Unit::_enter_tree() { GDGAMEONLY();
+    this->agent = this->get_node<gd::NavigationAgent3D>("NavigationAgent3D");
+    this->planner = this->get_node<goap::Planner>("Planner");
+    this->world_state = this->get_node<UnitWorldState>("ActorWorldState");
+    this->world_state->connect("attention_changed", callable_mp(this, &Unit::stop_plan));
+}
+
+void Unit::_process(double delta_time) {
+}
+
+void Unit::stop_plan() {
+    if(this->is_queued_for_deletion())
+        return;
+    this->current_plan.clear();
+    if(this->state && !this->state->is_queued_for_deletion())
+        this->destroy_state();
+    this->state = nullptr;
+}
+
+void Unit::plan_for_marker(GoalMarker *marker) {
+    gd::UtilityFunctions::print("plan_for_marker on ", this->get_path());
+    this->destroy_state();
+    this->world_state->set_target_node(marker);
+    this->plan_for_goal(marker->get_goal());
+}
+
+void Unit::plan_for_goal(gd::Ref<goap::Goal> goal) {
+    gd::UtilityFunctions::print("plan_for_goal on ", this->get_path());
+    this->current_plan = this->planner->plan_for_goal(goal);
+    this->next_action();
+}
+
+UnitWorldState *Unit::get_world_state() const {
+    return this->world_state;
+}
+
+void Unit::destroy_state() {
+    if(this->state == nullptr || this->state->is_queued_for_deletion() || !this->state->is_inside_tree())
+        return;
+    this->state->queue_free();
+    this->remove_child(this->state);
+    this->state = nullptr;
+}
+
+void Unit::next_action() {
+    if(this->state != nullptr && !this->state->is_queued_for_deletion())
+        this->destroy_state();
+    this->state = nullptr;
+    if(this->current_plan.is_empty()) return;
+    this->state = this->current_plan.get(0)->get_apply_state(this->world_state);
+    if(state == nullptr) {
+        this->stop_plan();
+        gd::UtilityFunctions::push_error("Plan failed to be executed, abandoning");
+        return;
+    }
+    this->current_plan.remove_at(0);
+    this->add_child(this->state);
+    this->state->connect("end_state", this->on_end_state);
 }
diff --git a/src/unit.hpp b/src/unit.hpp
index 40d505f..ac016a3 100644
--- a/src/unit.hpp
+++ b/src/unit.hpp
@@ -1,19 +1,43 @@
 #ifndef RTS_UNIT_HPP
 #define RTS_UNIT_HPP
 
+#include "goal_marker.hpp"
+#include "unit_world_state.hpp"
+#include "goap/goal.hpp"
+#include "goap/planner.hpp"
+#include <godot_cpp/classes/character_body3d.hpp>
 #include <godot_cpp/classes/navigation_agent3d.hpp>
 #include <godot_cpp/classes/node3d.hpp>
+#include <godot_cpp/variant/callable.hpp>
 
 namespace gd = godot;
 
 
-class Unit : public gd::Node3D {
-    GDCLASS(Unit, gd::Node3D);
+class Unit : public gd::CharacterBody3D {
+    GDCLASS(Unit, gd::CharacterBody3D);
     static void _bind_methods();
 public:
     virtual void _enter_tree() override;
+    virtual void _process(double delta_time) override;
+
+    void stop_plan();
+    void plan_for_marker(GoalMarker *marker);
+    void plan_for_goal(gd::Ref<goap::Goal> goal);
+    UnitWorldState *get_world_state() const;
 private:
+    void destroy_state();
+    void next_action();
+private:
+    goap::Plan current_plan{};
+    goap::State *state{nullptr};
+
+    gd::Node3D *eyes{nullptr};
+
+    gd::Callable on_end_state{callable_mp(this, &Unit::next_action)};
+
     gd::NavigationAgent3D *agent{nullptr};
+    UnitWorldState *world_state{nullptr};
+    goap::Planner *planner{nullptr};
 };
 
 #endif // !RTS_UNIT_HPP
diff --git a/src/unit_world_state.cpp b/src/unit_world_state.cpp
new file mode 100644
index 0000000..785b515
--- /dev/null
+++ b/src/unit_world_state.cpp
@@ -0,0 +1,45 @@
+#include "unit_world_state.hpp"
+#include "unit.hpp"
+#include "utils/godot_macros.hpp"
+#include <godot_cpp/variant/utility_functions.hpp>
+
+void UnitWorldState::_bind_methods() {
+#define CLASSNAME UnitWorldState
+    GDSIGNAL("attention_changed");
+    GDFUNCTION(get_can_see_target);
+    GDFUNCTION(get_target_dead);
+    GDFUNCTION(get_is_at_target);
+    GDFUNCTION(get_target_node);
+}
+
+void UnitWorldState::_enter_tree() { GDGAMEONLY();
+    this->parent_unit = gd::Object::cast_to<Unit>(this->get_parent());
+    this->agent = this->get_node<gd::NavigationAgent3D>("../NavigationAgent3D");
+    if(this->parent_unit == nullptr)
+        gd::UtilityFunctions::push_warning("UnitWorldState needs to be a child node of a Unit");
+}
+
+bool UnitWorldState::get_can_see_target() const {
+    return false;
+}
+
+bool UnitWorldState::get_is_at_target() const {
+    if(this->target_node == nullptr) return true;
+    gd::Vector3 const target = this->target_node->get_global_position();
+    gd::Vector3 const current = this->parent_unit->get_global_position();
+    float const min_dist = this->agent->get_target_desired_distance();
+    return (target - current).length_squared() < min_dist * min_dist;
+}
+
+bool UnitWorldState::get_target_dead() const {
+    return false;
+}
+
+void UnitWorldState::set_target_node(gd::Node3D *node) {
+    this->target_node = node;
+    this->emit_signal("attention_changed");
+}
+
+gd::Node3D *UnitWorldState::get_target_node() const {
+    return this->target_node;
+}
diff --git a/src/unit_world_state.hpp b/src/unit_world_state.hpp
new file mode 100644
index 0000000..ae7308f
--- /dev/null
+++ b/src/unit_world_state.hpp
@@ -0,0 +1,27 @@
+#ifndef UNIT_WORLD_STATE_HPP
+#define UNIT_WORLD_STATE_HPP
+
+#include "goap/actor_world_state.hpp"
+#include "godot_cpp/classes/navigation_agent3d.hpp"
+#include <godot_cpp/classes/node3d.hpp>
+
+class Unit;
+
+class UnitWorldState : public goap::ActorWorldState {
+    GDCLASS(UnitWorldState, goap::ActorWorldState);
+    static void _bind_methods();
+public:
+    virtual void _enter_tree() override;
+    bool get_can_see_target() const;
+    bool get_is_at_target() const;
+    bool get_target_dead() const;
+
+    void set_target_node(gd::Node3D *node);
+    gd::Node3D *get_target_node() const;
+private:
+    Unit *parent_unit{nullptr};
+    gd::NavigationAgent3D *agent{nullptr};
+    gd::Node3D *target_node{nullptr};
+};
+
+#endif // !UNIT_WORLD_STATE_HPP