// this lambda needs to be passed to pattern being executed (to constrain position to totem radius)
    //Func<Vector3, Vector3> GetDestinationInTotem()
    //{
    //    Func<Vector3, Vector3> fn = (v) =>
    //    {
    //        if (!localTotem)
    //        {
    //            return v;
    //        }
    //        Vector3 totemPos = localTotem.transform.position;
    //        float destinationDist = Vector3.Distance(totemPos, v);
    //        if (destinationDist > localTotem.radius)
    //        {
    //            // position + direction.normalized * radius 0 shortens destination to point on totem radius
    //            return totemPos + (v - totemPos).normalized * localTotem.radius;
    //        }
    //        return v;
    //    };
    //    return fn;
    //}

    // Wrapper Method that allocates data to each of the AI Modes - Conditions for
    // execution are defined at the top of each respective Mode class
    public void MakeDecisionFrom(SenseMemoryFactory.SMData senseData)
    {
        // SelectMany() makes 1 list out of all the pattern lists (derived/transformed from deciders) that pass the condition (based on SMData)
        //List<Pattern> relevantPatterns = deciders.SelectMany(d => d.DeciderBasedOn(data)).ToList();

        Decider relevantDecider = null;
        Pattern pattern         = null;

        // run each decider through it's bool test for relevence based on senses
        foreach (Decider d in deciders)
        {
            if (d.DeciderBasedOn(senseData) != null)
            {
                relevantDecider = d;
                break;
            }
        }

        if (relevantDecider != null)
        {
            // tell decider to run specific conditions to choose one of it's patterns
            pattern = relevantDecider.ChoosePattern(senseData);
        }
        else
        {
            Debug.Log("No relevant Decider chosen! (MakeDecisionFrom() method)");
            return;
        }


        //Pattern pattern = pM.SelectPattern(relevantPatterns);
        if (pattern)
        {
            pM.TryExecutePattern(pattern, senseData);
        }
        //TurnOffDecidersBasedOn(pattern);
    }