private bool allNodesWalkable(bool checkDynamicObstacles = false)
{
// If any path is not walkable then exits early with failure
foreach (PathRouteNode node in nodes)
{
if (node.IsWalkable == false)
{
return(false);
}
// Check for dynamic obstacles
if (checkDynamicObstacles == true)
{
// Check for valid grid
if (grid != null && grid.CheckIndexOccupied != null)
{
// Check if the node is obstructed
if (grid.CheckIndexOccupied(node.Index) == true)
{
return(false);
}
}
}
}
// The path can be walked until the end
return(true);
}