Next Target Selection Task

EBTNodeResult::Type UBTTargetPointSelection::ExecuteTask(UBehaviorTreeComponent & OwnerComp, uint8 * NodeMemory)
{
    AMyAIController* AICon = Cast<AMyAIController>(OwnerComp.GetAIOwner());

    /*If the Controller is valid:
    1)Get the Blackboard Component and the Current Point of the bot
    2)Search for the next point, which will be different from the Current Point*/
    if (AICon)
    {

        UBlackboardComponent* BlackboardComp = AICon->GetBlackboardComp();
        ABotTargetPoint* CurrentPoint = Cast<ABotTargetPoint>(BlackboardComp->GetValueAsObject("LocationToGo"));

        TArray<AActor*> AvailableTargetPoints = AICon->GetAvailableTargetPoints();

        //This variable will contain a random index in order to determine the next possible point
        int32 RandomIndex;

        //Here, we store the possible next target point
        ABotTargetPoint* NextTargetPoint = nullptr;

        //Find a next point which is different from the current one
        do
        {
            RandomIndex = FMath::RandRange(0, AvailableTargetPoints.Num()-1);
            //Remember that the Array provided by the Controller function contains AActor* objects so we need to cast.
            NextTargetPoint = Cast<ABotTargetPoint>(AvailableTargetPoints[RandomIndex]);
        } while (CurrentPoint == NextTargetPoint);

        //Update the next location in the Blackboard so the bot can move to the next Blackboard value
        BlackboardComp->SetValueAsObject("LocationToGo", NextTargetPoint);

        //At this point, the task has been successfully completed
        return EBTNodeResult::Succeeded;
    }
    return EBTNodeResult::Failed;
}