We assign the Waypoint component to every node of the graph, or every node that is worth taking as a waypoint (because the condensation algorithm emphasizes performance).
The waypoints are ordered according to their relevance (such as the height to be used as a sniping or advantage location), and then their neighbors are checked to see which ones are going to be dismissed from the condensation. Naturally, the less valuable waypoints are kept to the end of the computation cycle.
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