private void ComputeCellSizes()
{
CellHeight = AgentHeight / CellsPerAgentHeight;
CellSize = TileSize / CellsPerTileSide;
InvertedCellHeight = CellsPerAgentHeight / AgentHeight;
InvertedCellWidth = CellsPerTileSide / TileSize;
CellRadius = (int)Math.Ceiling(_agentRadius * InvertedCellWidth);
MaxCellStep = (int)(WalkableClimb * InvertedCellHeight);
BorderCells = (int)(BorderSize * InvertedCellWidth);
}