void UAIBlueprintHelperLibrary::SimpleMoveToLocation(AController* Controller, const FVector& GoalLocation)
{
	UNavigationSystemV1* NavSys = Controller ? FNavigationSystem::GetCurrent<UNavigationSystemV1>(Controller->GetWorld()) : nullptr;
	if (NavSys == nullptr || Controller == nullptr || Controller->GetPawn() == nullptr)
	{
		UE_LOG(LogNavigation, Warning, TEXT("UNavigationSystemV1::SimpleMoveToActor called for NavSys:%s Controller:%s controlling Pawn:%s (if any of these is None then there's your problem"),
			*GetNameSafe(NavSys), *GetNameSafe(Controller), Controller ? *GetNameSafe(Controller->GetPawn()) : TEXT("NULL"));
		return;
	}

	UPathFollowingComponent* PFollowComp = InitNavigationControl(*Controller);

	if (PFollowComp == nullptr)
	{
		FMessageLog("PIE").Warning(FText::Format(
			LOCTEXT("SimpleMoveErrorNoComp", "SimpleMove failed for {0}: missing components"),
			FText::FromName(Controller->GetFName())
		));
		return;
	}

	if (!PFollowComp->IsPathFollowingAllowed())
	{
		FMessageLog("PIE").Warning(FText::Format(
			LOCTEXT("SimpleMoveErrorMovement", "SimpleMove failed for {0}: movement not allowed"),
			FText::FromName(Controller->GetFName())
		));
		return;
	}

	const bool bAlreadyAtGoal = PFollowComp->HasReached(GoalLocation, EPathFollowingReachMode::OverlapAgent);

	// script source, keep only one move request at time
	if (PFollowComp->GetStatus() != EPathFollowingStatus::Idle)
	{
		PFollowComp->AbortMove(*NavSys, FPathFollowingResultFlags::ForcedScript | FPathFollowingResultFlags::NewRequest
			, FAIRequestID::AnyRequest, bAlreadyAtGoal ? EPathFollowingVelocityMode::Reset : EPathFollowingVelocityMode::Keep);
	}

	// script source, keep only one move request at time
	if (PFollowComp->GetStatus() != EPathFollowingStatus::Idle)
	{
		PFollowComp->AbortMove(*NavSys, FPathFollowingResultFlags::ForcedScript | FPathFollowingResultFlags::NewRequest);
	}

	if (bAlreadyAtGoal)
	{
		PFollowComp->RequestMoveWithImmediateFinish(EPathFollowingResult::Success);
	}
	else
	{
		const ANavigationData* NavData = NavSys->GetNavDataForProps(Controller->GetNavAgentPropertiesRef());
		if (NavData)
		{
			FPathFindingQuery Query(Controller, *NavData, Controller->GetNavAgentLocation(), GoalLocation);
			FPathFindingResult Result = NavSys->FindPathSync(Query);
			if (Result.IsSuccessful())
			{
				PFollowComp->RequestMove(FAIMoveRequest(GoalLocation), Result.Path);
			}
			else if (PFollowComp->GetStatus() != EPathFollowingStatus::Idle)
			{
				PFollowComp->RequestMoveWithImmediateFinish(EPathFollowingResult::Invalid);
			}
		}
	}
}