For the next version, I have added a feature that allows soldiers to move diagonally around objects (provided there is enough room). This would make it a lot easier moving through a rock field for example.
So, in the following scene the soldier can cut diagonally between small rocks and barrels (also can move diagonally between other soldiers):
The soldier cannot move diagonally, if the object is too big. For instance, he has to go around the building corner:
