I have a list of entities that looks like `[{x,y,width,height}, {x,y,width,height}, ...]`. This list is non-discreate, It doesn't follow a grid. entities can be positioned at floats like `x:2.345`

Most path finding solutions I've found like **A\*** expect a discrete grid to perform the calculations. 

I've looked at **Theta\*** as a solution it supports non-discreate pathfinding on a navigation mesh.

Either way I need to convert this entity data into a Grid or Navigation Mesh. This is probably a common task but new for me. I'm doing this in Javascript and would appreciate any examples in that language.

also some entities will be moving in realtime and will effect future path generation of other entities.

![enter image description here](https://i.stack.imgur.com/tkodF.png)