diff --git a/src/goal_marker.cpp b/src/goal_marker.cpp
index 4a85d52..91dff02 100644
--- a/src/goal_marker.cpp
+++ b/src/goal_marker.cpp
@@ -1,7 +1,8 @@
 #include "goal_marker.hpp"
-#include "godot_cpp/classes/global_constants.hpp"
+#include "godot_cpp/core/math.hpp"
 #include "planner.hpp"
 #include "utils/godot_macros.h"
+#include <godot_cpp/classes/global_constants.hpp>
 
 namespace godot {
 void GoalMarker::_bind_methods() {
@@ -9,11 +10,63 @@ void GoalMarker::_bind_methods() {
     GDPROPERTY_HINTED(goal, Variant::OBJECT, PROPERTY_HINT_RESOURCE_TYPE, "Goal");
 }
 
-Ref<goap::Goal> GoalMarker::get_goal() const {
-    return this->goal;
+bool GoalMarker::is_point_on(Vector3 point) {
+    return point.distance_squared_to(this->get_global_position()) <= .5f * .5f;
+}
+
+Vector3 GoalMarker::nearest_point_on(Vector3 nearest_to) {
+    return this->get_global_position();
 }
 
 void GoalMarker::set_goal(Ref<goap::Goal> goal) {
     this->goal = goal;
 }
+
+Ref<goap::Goal> GoalMarker::get_goal() const {
+    return this->goal;
+}
+
+void GoalMarker::set_radius(float radius) {
+    this->radius = radius;
+}
+
+float GoalMarker::get_radius() const {
+    return this->radius;
+}
+
+#undef CLASSNAME
+
+void LineGoalMarker::_bind_methods() {
+#define CLASSNAME LineGoalMarker
+    GDPROPERTY(left, Variant::FLOAT);
+    GDPROPERTY(right, Variant::FLOAT);
+}
+
+bool LineGoalMarker::is_point_on(Vector3 point) {
+    return this->nearest_point_on(point).distance_to(point) < this->radius * this->radius;
+}
+
+Vector3 LineGoalMarker::nearest_point_on(Vector3 point) {
+    Basis const &basis{this->get_global_basis()};
+    Vector3 const right_unit{basis.get_column(0).normalized()};
+    Vector3 const leftvec{(right_unit * -left) + this->get_global_position()};
+    float const length{Math::abs(right - left)};
+    return leftvec + right_unit * Math::clamp(right_unit.dot(point - leftvec), 0.f, length);
+}
+
+void LineGoalMarker::set_left(float left) {
+    this->left = left;
+}
+
+float LineGoalMarker::get_left() const {
+    return this->left;
+}
+
+void LineGoalMarker::set_right(float right) {
+    this->right = right;
+}
+
+float LineGoalMarker::get_right() const {
+    return this->right;
+}
 }
diff --git a/src/goal_marker.hpp b/src/goal_marker.hpp
index de37d6c..6ccb3fa 100644
--- a/src/goal_marker.hpp
+++ b/src/goal_marker.hpp
@@ -14,10 +14,31 @@ class GoalMarker : public Area3D {
     GDCLASS(GoalMarker, Area3D);
     static void _bind_methods();
 public:
-    Ref<goap::Goal> get_goal() const;
+    virtual bool is_point_on(Vector3 point);
+    virtual Vector3 nearest_point_on(Vector3 near_to);
+
     void set_goal(Ref<goap::Goal> goal);
-private:
+    Ref<goap::Goal> get_goal() const;
+    void set_radius(float radius);
+    float get_radius() const;
+protected:
     Ref<goap::Goal> goal{nullptr};
+    float radius{0.2f};
+};
+
+class LineGoalMarker : public GoalMarker {
+    GDCLASS(LineGoalMarker, Area3D);
+    static void _bind_methods();
+public:
+    virtual bool is_point_on(Vector3 point) override;
+    virtual Vector3 nearest_point_on(Vector3 near_to) override;
+
+    void set_left(float left);
+    float get_left() const;
+    void set_right(float right);
+    float get_right() const;
+private:
+    float left{0.5f}, right{0.5f};
 };
 }
 
diff --git a/src/register_types.cpp b/src/register_types.cpp
index f3ff105..0beb221 100644
--- a/src/register_types.cpp
+++ b/src/register_types.cpp
@@ -66,6 +66,7 @@ void initialize_gdextension_types(ModuleInitializationLevel p_level)
     ClassDB::register_class<goap::Goal>();
     ClassDB::register_class<goap::Planner>();
     ClassDB::register_class<GoalMarker>();
+    ClassDB::register_class<LineGoalMarker>();
 }
 
 extern "C"