/// <summary>
/// Builds the graph by collecting all <see cref="Waypoint"/> game objects in the scene,
/// and using their positions as the source data for <see cref="AStarNode"/>s.
/// </summary>
private void BuildGraph()
{
_waypointNodes = new Dictionary <Guid, AStarNode>();
var sceneWaypoints = GameObject.FindGameObjectsWithTag("Waypoint");
var nodes = new AStarNode[sceneWaypoints.Length];
// Create AStarNode instances for each Waypoint in the scene
for (int i = 0; i < sceneWaypoints.Length; i++)
{
var waypoint = sceneWaypoints[i].GetComponent <Waypoint>();
var node = new AStarNode(waypoint.transform.position);
nodes[i] = node;
_waypointNodes.Add(waypoint.Id, node);
}
// Build the visibility map according to the nodes in scene
_visibilityGraph = new VisibilityGraph(nodes);
_visibilityGraph.Build();
}