Unity behavior tree node development-A* mobile control

Shown below Unity 行为树节点开发——A*移动控制.

using UnityEngine;
using Pathfinding;
using MR_LBS.Client.Unity3D;

namespace BehaviorDesigner.Runtime.Tasks
{
    
    
    [TaskCategory("GC_CL")]
    public class PathFinding_Test : Action
    {
    
    
        public SharedFloat moveSpeed;
        //A*  是否开启寻路
        public SharedBool canMove = true;

        public SharedGameObject target;
        MonsterControlBase monsterControl;
        Monster monster;
        //A*  到达距离
        public SharedFloat arriveDistance = 2f;
        //public SharedVector3 targetPosition;
        BehaviorTree tree;
        //A*  到达下一个点的距离
        //public SharedFloat pickNextWaypointDist = 1f;
        AIPath aIPath;

        private bool canChangeAStar;

        public override void OnAwake()
        {
    
    
            monsterControl = GetComponent<MonsterControlBase>();
            tree = (BehaviorTree)base.Owner;
            monster = monsterControl.Monster_P;
            aIPath = GetComponent<AIPath>();

            canChangeAStar = (bool) tree.GetVariable("CanChangeAStar").GetValue();
        }

        public override void OnStart()
        {
    
    
            canChangeAStar = (bool)tree.GetVariable("CanChangeAStar").GetValue();
            if (canChangeAStar)
            {
    
    
                aIPath.maxSpeed = moveSpeed.Value;
                //打开寻路
                aIPath.canMove = true;
                aIPath.endReachedDistance = arriveDistance.Value;
                if (target.Value == null)
                {
    
    
                    monsterControl.PathFindingCon(null);//null   虫洞坐标
                    target.Value = monsterControl.Wormhole.gameObject;
                    //transform.LookAt(target.Value.transform);
                }
                else
                {
    
    
                    monsterControl.PathFindingCon(target.Value.gameObject);
                    //transform.LookAt(target.Value.transform);
                }
                
                
            }
            else if (!canChangeAStar)
            {
    
    
                aIPath.canMove = false;
            }
        }

        public override TaskStatus OnUpdate()
        {
    
    
            canChangeAStar = (bool)tree.GetVariable("CanChangeAStar").GetValue();
            //默认情况下可以第一判断不会对寻路产生影响
            //如果有特殊效果影响寻路则更改第一层判定，暂停行为树中的寻路效果
            if (canChangeAStar)
            {
    
    
                var position = Target();
                // Return a task status of success once we've reached the target
                if (Vector3.Magnitude(transform.position - position) < arriveDistance.Value)
                {
    
    
                    //Debug.Log(Vector3.Magnitude(transform.position - position));
                    aIPath.canMove = false;
                    //Debug.Log(Vector3.Magnitude(transform.position - position));
                    return TaskStatus.Success;
                }
                if (((SharedGameObject)tree.GetVariable("FireTarget")).Value != null)
                {
    
    
                    return TaskStatus.Success;
                }
                if (target.Value != null)
                {
    
    
                    //Debug.Log(4444);

                    //transform.LookAt(target.Value.transform);
                    return TaskStatus.Success;
                }
                else
                    return TaskStatus.Failure;
            }
            else
            {
    
    
                if (canChangeAStar==false)
                {
    
    
                    //Debug.Log("Worn");
                }
                //Debug.Log("false");
                //这里不能让行为树卡在这里 所以应该是判定失败从新判定
                return TaskStatus.Failure;
            }
        }


        private Vector3 Target()
        {
    
    
            if (target == null || target.Value == null)
            {
    
    
                return monsterControl.Wormhole.position;
            }
            return target.Value.transform.position;
        }
    }
}