fBaseXtensions.Navigation.Navigation.IsVectorBlocked C# (CSharp) Method

        private bool IsVectorBlocked(Vector3 location)
        {
            //Reset Navigationally Blocked GPs
            LastNavigationBlockedPoints = new List<GridPoint>();

            //Create Local GPRect!
            if (LastUsedBlockCheckGPRect == null || LastUsedBlockCheckGPRect.centerpoint != (GridPoint)location)
            {
                //Clear lists
                LastObjectblockCounter.Clear();
                LastObjectOccupiedGridPoints.Clear();
                LastUsedBlockCheckGPRect = new GPRectangle(location);
            }

            if (LastUsedBlockCheckGPRect.Count == 0)
            {
                //Logger.DBLog.DebugFormat("Current Location GP Rect has no valid Grid Points!");
                return false;
            }

            GridPoint[] CurrentLocationGridPoints = LastUsedBlockCheckGPRect.Keys.ToArray();
            List<GridPoint> SurroundingPoints = new List<GridPoint>();
            int SurroundingMaxCount = LastUsedBlockCheckGPRect.Count >= 8 ? 8 : LastUsedBlockCheckGPRect.Count;
            for (int i = 0; i < SurroundingMaxCount; i++)
            {
                GridPoint gp = CurrentLocationGridPoints[i];
                if (!gp.Ignored)
                    SurroundingPoints.Add(gp);
                else
                    LastNavigationBlockedPoints.Add(gp);
            }

            List<int> NearbyObjectRAGUIDs = new List<int>();
            List<CacheServerObject> NearbyObjects = FunkyGame.Targeting.Cache.Environment.NearbyObstacleObjects.Where(obj => obj.RadiusDistance <= 6f).ToList();//ObjectCache.Obstacles.Navigations.Where(obj => obj.RadiusDistance<=5f).ToList();

            //no nearby objects passed distance check..
            if (NearbyObjects.Count == 0)
            {
                //Clear list, and return pure navigational check (Zero means we are completely stuck in a non-navigable location?)
                LastObjectblockCounter.Clear();
                LastObjectOccupiedGridPoints.Clear();

                //Logger.DBLog.InfoFormat("Current Location Point has {0} usable points (NoNewObjs)", SurroundingPoints.Count);

                return (SurroundingPoints.Count == 0);
            }

            //Update ObjectBlockCounter Collection
            if (LastObjectblockCounter.Count > 0)
            {
                //Add current nearby object RAGUIDs to collection
                NearbyObjectRAGUIDs.AddRange((from objs in NearbyObjects
                                              select objs.RAGUID).ToArray());

                //Generate Removal List for ObjectBlockCounter Collections
                List<int> RemovalRAGUIDList = (from raguids in LastObjectblockCounter.Keys
                                               where !NearbyObjectRAGUIDs.Contains(raguids)
                                               select raguids).ToList();

                //Removal
                foreach (var item in RemovalRAGUIDList)
                {
                    LastObjectblockCounter.Remove(item);
                    LastObjectOccupiedGridPoints.Remove(item);
                }
            }

            //Check any exisiting block entries
            if (LastObjectblockCounter.Count > 0)
            {
                foreach (var item in LastObjectOccupiedGridPoints.Values)
                {
                    LastNavigationBlockedPoints.AddRange(item);
                }

                //Update Surrounding Points
                SurroundingPoints = SurroundingPoints.Except(LastNavigationBlockedPoints).ToList();

                if (SurroundingPoints.Count == 0)
                {
                    //Logger.DBLog.InfoFormat("NavBlocked -- No available surrounding points.");

                    return true;
                }
            }

            //Generate new object list that contains objects that are not already accounted for
            List<CacheServerObject> NewObjects = NearbyObjects.Where(obj => !LastObjectblockCounter.ContainsKey(obj.RAGUID) || LastObjectblockCounter[obj.RAGUID] < 4).ToList();

            //No new objects to test..
            if (NewObjects.Count == 0)
            {
                //Logger.DBLog.InfoFormat("No new Objects Unaccounted");

                return (SurroundingPoints.Count == 0);
            }

            foreach (GridPoint item in SurroundingPoints)
            {
                //Find any objects that contain this GP
                CacheServerObject[] ContainedObjs = NewObjects.Where(Obj => Obj.PointInside(item)			   //only objects that have hit there maximum block count.
                                                                                && (!LastObjectblockCounter.ContainsKey(Obj.RAGUID) || Math.Round(Obj.PointRadius) < LastObjectblockCounter[Obj.RAGUID])).ToArray();
                if (ContainedObjs.Length > 0)
                {
                    //if (ContainedObjs.Length > 1 && FunkyBaseExtension.Settings.Debugging.FunkyLogFlags.HasFlag(LogLevel.Movement))
                        //Logger.DBLog.InfoFormat("Multiple Objects Found Occuping Grid Point!");

                    CacheServerObject ThisObjBlocking = ContainedObjs[0];
                    int ObjRAGUID = ThisObjBlocking.RAGUID;

                    if (LastObjectblockCounter.ContainsKey(ObjRAGUID))
                    {
                        int GPCount = LastObjectOccupiedGridPoints[ObjRAGUID].Length;
                        LastObjectblockCounter[ObjRAGUID]++;
                        GridPoint[] newArrayGPs = new GridPoint[GPCount];
                        LastObjectOccupiedGridPoints[ObjRAGUID].CopyTo(newArrayGPs, 0);
                        newArrayGPs[GPCount - 1] = item.Clone();
                        LastObjectOccupiedGridPoints[ObjRAGUID] = newArrayGPs;
                    }
                    else
                    {
                        LastObjectblockCounter.Add(ObjRAGUID, 1);
                        GridPoint[] NewArrayGP = new GridPoint[1] { item.Clone() };
                        LastObjectOccupiedGridPoints.Add(ObjRAGUID, NewArrayGP);
                    }

                    LastNavigationBlockedPoints.Add(item);
                }
            }

            //Update Surrounding Points
            SurroundingPoints = SurroundingPoints.Except(LastNavigationBlockedPoints).ToList();

            //Logger.DBLog.InfoFormat("Current Location Point has {0} usable points", SurroundingPoints.Count);

            return (SurroundingPoints.Count == 0);
        }