void Update()
        {
            currentGoalTile = goalComponent.getGoalTile();
            currentTile     = QuantizeLocalize.Quantize(transform.position, tg);
            if (prevGoalTile != currentGoalTile)
            {
                foreach (TileNode tn in currentPath)
                {
                    if (tn.isEqual(currentTile))
                    {
                        continue;
                    }
                    tn.setOffMaterial();
                }


                currentPath  = PathFind.Dijkstra(tg, currentTile, currentGoalTile);
                prevGoalTile = currentGoalTile;
                // light up all tiles
                foreach (TileNode tn in currentPath)
                {
                    if (tn.isEqual(currentGoalTile))
                    {
                        continue;
                    }
                    tn.setPlanMaterial();
                }

                currentGoal = QuantizeLocalize.Localize(currentPath.Pop());
            }


            // determine how to set force
            if (currentPath.Count > 0)
            {
                ds_force = seek.getSteering(currentGoal);
                // pop when seek says we've made it into range and seek the next target
                if (seek.changeGoal)
                {
                    nextTile = currentPath.Pop();
                    nextTile.setNextMaterial();
                    currentGoal = QuantizeLocalize.Localize(nextTile);
                    if (currentPath.Count > 0)
                    {
                        ds_force = seek.getSteering(currentGoal);
                    }
                    else
                    {
                        ds_force = arrive.getSteering(currentGoal);
                    }
                }
            }
            else if (currentPath.Count == 0)
            {
                ds_force = arrive.getSteering(currentGoal);
            }


            ds_torque = align.getSteering(currentGoal);

            ds        = new DynoSteering();
            ds.force  = ds_force.force;
            ds.torque = ds_torque.torque;

            kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
            transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
            transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
        }
        void Update()
        {
            // check what the current goal is
            currentGoalTile = goalComponent.tileGoal;

            // check if we are at the goal position
            currentTile = QuantizeLocalize.Quantize(transform.position, tg);


            // if we're at the goal position, then pick a new goal
            if (currentTile == currentGoalTile)
            {
                Debug.Log("here");
                goalSetter.SetNextGoal();
                currentGoalTile = goalComponent.tileGoal;

                // find path to new goal
                currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile);

                // pick next point to seek
                currentGoal = QuantizeLocalize.Localize(currentPath.Pop());
            }
            else if (!hasPath)
            {
                currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile);
                currentGoal = QuantizeLocalize.Localize(currentPath.Pop());
                hasPath     = true;
            }


            // if we are not at last point on path
            if (currentPath.Count > 0)
            {
                // seek next point on path
                ds_force = seek.getSteering(currentGoal);

                // pop when seek says we've made it into range and seek the next target
                if (seek.changeGoal)
                {
                    nextTile    = currentPath.Pop();
                    currentGoal = QuantizeLocalize.Localize(nextTile);
                    if (currentPath.Count > 0)
                    {
                        ds_force = seek.getSteering(currentGoal);
                    }
                    else
                    {
                        ds_force = arrive.getSteering(currentGoal);
                    }
                }
            }
            // otherwise, we are approaching the path goal.  we should arrive.
            else if (currentPath.Count == 0)
            {
                ds_force = arrive.getSteering(currentGoal);
            }


            ds_torque = align.getSteering(currentGoal);

            ds        = new DynoSteering();
            ds.force  = ds_force.force;
            ds.torque = ds_torque.torque;

            kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
            transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
            transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
        }