Pathfinding.MultiTargetPath.Prepare C# (CSharp) Method

		protected override void Prepare () {
			nnConstraint.tags = enabledTags;
			var startNNInfo  = AstarPath.active.GetNearest(startPoint, nnConstraint);
			startNode = startNNInfo.node;

			if (startNode == null) {
				FailWithError("Could not find start node for multi target path");
				return;
			}

			if (!CanTraverse(startNode)) {
				FailWithError("The node closest to the start point could not be traversed");
				return;
			}

			// Tell the NNConstraint which node was found as the start node if it is a PathNNConstraint and not a normal NNConstraint
			var pathNNConstraint = nnConstraint as PathNNConstraint;
			if (pathNNConstraint != null) {
				pathNNConstraint.SetStart(startNNInfo.node);
			}

			vectorPaths = new List<Vector3>[targetPoints.Length];
			nodePaths = new List<GraphNode>[targetPoints.Length];
			targetNodes = new GraphNode[targetPoints.Length];
			targetsFound = new bool[targetPoints.Length];
			targetNodeCount = targetPoints.Length;

			bool anyWalkable = false;
			bool anySameArea = false;
			bool anyNotNull = false;

			for (int i = 0; i < targetPoints.Length; i++) {
				var endNNInfo = AstarPath.active.GetNearest(targetPoints[i], nnConstraint);

				targetNodes[i] = endNNInfo.node;

				targetPoints[i] = endNNInfo.position;
				if (targetNodes[i] != null) {
					anyNotNull = true;
					endNode = targetNodes[i];
				}

				bool notReachable = false;

				if (endNNInfo.node != null && CanTraverse(endNNInfo.node)) {
					anyWalkable = true;
				} else {
					notReachable = true;
				}

				if (endNNInfo.node != null && endNNInfo.node.Area == startNode.Area) {
					anySameArea = true;
				} else {
					notReachable = true;
				}

				if (notReachable) {
					// Signal that the pathfinder should not look for this node because we have already found it
					targetsFound[i] = true;
					targetNodeCount--;
				}
			}

			startPoint = startNNInfo.position;

			startIntPoint = (Int3)startPoint;

			if (!anyNotNull) {
				FailWithError("Couldn't find nodes close to the all of the end points");
				return;
			}

			if (!anyWalkable) {
				FailWithError("No target nodes could be traversed");
				return;
			}

			if (!anySameArea) {
				FailWithError("There are no valid paths to the targets");
				return;
			}

			RecalculateHTarget(true);
		}