# How do you construct a node map for pathfinding in a non-tiled 2D environment? [duplicate]

A* and Dijkstra's pathfinding algorithms work by navigating a node map. In a tile-based 2D environment, these nodes could easily be inferred to be the literal x,y positions of the map.

For example, the agent is at (0,0), an obstacle is at (0,1), and the agent wants to go to (0,2).

However, in a 2D environment where locations are represented using floating point variables float x, float y, agents and obstacles can exist between the traditional style nodes (0,0) and (0,1).

How do you create a node map from such an environment?