Is there "smart" texting available?

[AC Question]

Wondering if there is a way to receive texts to my Samsung Note 3 network phone # and reply via wifi? Have unlimited incoming texts but a per charge per text to send. Eg. When I receive a text via network and I then have to go to Google Voice/Hangouts to reply and have to "invite" when reply and my Google Voice # shows up which really confuses the other party. Have also come across situations where the other party doesn't have wifi or data. Basically, is there a 'smart' text mode that will pickup on wifi if available and default to network if none available?