CoCalc -- navigation_server

GitHub Repository: godotengine/godot
Path: blob/master/servers/navigation_server_2d.cpp
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/**************************************************************************/
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/*  navigation_server_2d.cpp                                              */
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/**************************************************************************/
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/*                         This file is part of:                          */
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/*                             GODOT ENGINE                               */
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/*                        https://godotengine.org                         */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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/*                                                                        */
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/* Permission is hereby granted, free of charge, to any person obtaining  */
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/* a copy of this software and associated documentation files (the        */
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/* "Software"), to deal in the Software without restriction, including    */
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/* without limitation the rights to use, copy, modify, merge, publish,    */
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/* distribute, sublicense, and/or sell copies of the Software, and to     */
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/* permit persons to whom the Software is furnished to do so, subject to  */
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/* the following conditions:                                              */
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/*                                                                        */
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/* The above copyright notice and this permission notice shall be         */
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/* included in all copies or substantial portions of the Software.        */
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/*                                                                        */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
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/**************************************************************************/
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#include "navigation_server_2d.h"
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#include "navigation_server_2d.compat.inc"
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#include "core/config/project_settings.h"
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#include "scene/main/node.h"
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#include "servers/navigation/navigation_globals.h"
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#include "servers/navigation_server_2d_dummy.h"
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NavigationServer2D *NavigationServer2D::singleton = nullptr;
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RWLock NavigationServer2D::geometry_parser_rwlock;
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RID_Owner<NavMeshGeometryParser2D> NavigationServer2D::geometry_parser_owner;
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LocalVector<NavMeshGeometryParser2D *> NavigationServer2D::generator_parsers;
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void NavigationServer2D::_bind_methods() {
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	ClassDB::bind_method(D_METHOD("get_maps"), &NavigationServer2D::get_maps);
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	ClassDB::bind_method(D_METHOD("map_create"), &NavigationServer2D::map_create);
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	ClassDB::bind_method(D_METHOD("map_set_active", "map", "active"), &NavigationServer2D::map_set_active);
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	ClassDB::bind_method(D_METHOD("map_is_active", "map"), &NavigationServer2D::map_is_active);
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	ClassDB::bind_method(D_METHOD("map_set_cell_size", "map", "cell_size"), &NavigationServer2D::map_set_cell_size);
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	ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer2D::map_get_cell_size);
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	ClassDB::bind_method(D_METHOD("map_set_merge_rasterizer_cell_scale", "map", "scale"), &NavigationServer2D::map_set_merge_rasterizer_cell_scale);
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	ClassDB::bind_method(D_METHOD("map_get_merge_rasterizer_cell_scale", "map"), &NavigationServer2D::map_get_merge_rasterizer_cell_scale);
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	ClassDB::bind_method(D_METHOD("map_set_use_edge_connections", "map", "enabled"), &NavigationServer2D::map_set_use_edge_connections);
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	ClassDB::bind_method(D_METHOD("map_get_use_edge_connections", "map"), &NavigationServer2D::map_get_use_edge_connections);
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	ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer2D::map_set_edge_connection_margin);
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	ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer2D::map_get_edge_connection_margin);
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	ClassDB::bind_method(D_METHOD("map_set_link_connection_radius", "map", "radius"), &NavigationServer2D::map_set_link_connection_radius);
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	ClassDB::bind_method(D_METHOD("map_get_link_connection_radius", "map"), &NavigationServer2D::map_get_link_connection_radius);
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	ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "navigation_layers"), &NavigationServer2D::map_get_path, DEFVAL(1));
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	ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer2D::map_get_closest_point);
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	ClassDB::bind_method(D_METHOD("map_get_closest_point_owner", "map", "to_point"), &NavigationServer2D::map_get_closest_point_owner);
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	ClassDB::bind_method(D_METHOD("map_get_links", "map"), &NavigationServer2D::map_get_links);
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	ClassDB::bind_method(D_METHOD("map_get_regions", "map"), &NavigationServer2D::map_get_regions);
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	ClassDB::bind_method(D_METHOD("map_get_agents", "map"), &NavigationServer2D::map_get_agents);
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	ClassDB::bind_method(D_METHOD("map_get_obstacles", "map"), &NavigationServer2D::map_get_obstacles);
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	ClassDB::bind_method(D_METHOD("map_force_update", "map"), &NavigationServer2D::map_force_update);
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	ClassDB::bind_method(D_METHOD("map_get_iteration_id", "map"), &NavigationServer2D::map_get_iteration_id);
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	ClassDB::bind_method(D_METHOD("map_set_use_async_iterations", "map", "enabled"), &NavigationServer2D::map_set_use_async_iterations);
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	ClassDB::bind_method(D_METHOD("map_get_use_async_iterations", "map"), &NavigationServer2D::map_get_use_async_iterations);
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	ClassDB::bind_method(D_METHOD("map_get_random_point", "map", "navigation_layers", "uniformly"), &NavigationServer2D::map_get_random_point);
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	ClassDB::bind_method(D_METHOD("query_path", "parameters", "result", "callback"), &NavigationServer2D::query_path, DEFVAL(Callable()));
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	ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer2D::region_create);
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	ClassDB::bind_method(D_METHOD("region_get_iteration_id", "region"), &NavigationServer2D::region_get_iteration_id);
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	ClassDB::bind_method(D_METHOD("region_set_use_async_iterations", "region", "enabled"), &NavigationServer2D::region_set_use_async_iterations);
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	ClassDB::bind_method(D_METHOD("region_get_use_async_iterations", "region"), &NavigationServer2D::region_get_use_async_iterations);
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	ClassDB::bind_method(D_METHOD("region_set_enabled", "region", "enabled"), &NavigationServer2D::region_set_enabled);
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	ClassDB::bind_method(D_METHOD("region_get_enabled", "region"), &NavigationServer2D::region_get_enabled);
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	ClassDB::bind_method(D_METHOD("region_set_use_edge_connections", "region", "enabled"), &NavigationServer2D::region_set_use_edge_connections);
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	ClassDB::bind_method(D_METHOD("region_get_use_edge_connections", "region"), &NavigationServer2D::region_get_use_edge_connections);
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	ClassDB::bind_method(D_METHOD("region_set_enter_cost", "region", "enter_cost"), &NavigationServer2D::region_set_enter_cost);
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	ClassDB::bind_method(D_METHOD("region_get_enter_cost", "region"), &NavigationServer2D::region_get_enter_cost);
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	ClassDB::bind_method(D_METHOD("region_set_travel_cost", "region", "travel_cost"), &NavigationServer2D::region_set_travel_cost);
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	ClassDB::bind_method(D_METHOD("region_get_travel_cost", "region"), &NavigationServer2D::region_get_travel_cost);
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	ClassDB::bind_method(D_METHOD("region_set_owner_id", "region", "owner_id"), &NavigationServer2D::region_set_owner_id);
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	ClassDB::bind_method(D_METHOD("region_get_owner_id", "region"), &NavigationServer2D::region_get_owner_id);
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	ClassDB::bind_method(D_METHOD("region_owns_point", "region", "point"), &NavigationServer2D::region_owns_point);
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	ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &NavigationServer2D::region_set_map);
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	ClassDB::bind_method(D_METHOD("region_get_map", "region"), &NavigationServer2D::region_get_map);
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	ClassDB::bind_method(D_METHOD("region_set_navigation_layers", "region", "navigation_layers"), &NavigationServer2D::region_set_navigation_layers);
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	ClassDB::bind_method(D_METHOD("region_get_navigation_layers", "region"), &NavigationServer2D::region_get_navigation_layers);
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	ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &NavigationServer2D::region_set_transform);
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	ClassDB::bind_method(D_METHOD("region_get_transform", "region"), &NavigationServer2D::region_get_transform);
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	ClassDB::bind_method(D_METHOD("region_set_navigation_polygon", "region", "navigation_polygon"), &NavigationServer2D::region_set_navigation_polygon);
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	ClassDB::bind_method(D_METHOD("region_get_connections_count", "region"), &NavigationServer2D::region_get_connections_count);
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	ClassDB::bind_method(D_METHOD("region_get_connection_pathway_start", "region", "connection"), &NavigationServer2D::region_get_connection_pathway_start);
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	ClassDB::bind_method(D_METHOD("region_get_connection_pathway_end", "region", "connection"), &NavigationServer2D::region_get_connection_pathway_end);
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	ClassDB::bind_method(D_METHOD("region_get_closest_point", "region", "to_point"), &NavigationServer2D::region_get_closest_point);
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	ClassDB::bind_method(D_METHOD("region_get_random_point", "region", "navigation_layers", "uniformly"), &NavigationServer2D::region_get_random_point);
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	ClassDB::bind_method(D_METHOD("region_get_bounds", "region"), &NavigationServer2D::region_get_bounds);
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	ClassDB::bind_method(D_METHOD("link_create"), &NavigationServer2D::link_create);
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	ClassDB::bind_method(D_METHOD("link_get_iteration_id", "link"), &NavigationServer2D::link_get_iteration_id);
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	ClassDB::bind_method(D_METHOD("link_set_map", "link", "map"), &NavigationServer2D::link_set_map);
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	ClassDB::bind_method(D_METHOD("link_get_map", "link"), &NavigationServer2D::link_get_map);
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	ClassDB::bind_method(D_METHOD("link_set_enabled", "link", "enabled"), &NavigationServer2D::link_set_enabled);
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	ClassDB::bind_method(D_METHOD("link_get_enabled", "link"), &NavigationServer2D::link_get_enabled);
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	ClassDB::bind_method(D_METHOD("link_set_bidirectional", "link", "bidirectional"), &NavigationServer2D::link_set_bidirectional);
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	ClassDB::bind_method(D_METHOD("link_is_bidirectional", "link"), &NavigationServer2D::link_is_bidirectional);
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	ClassDB::bind_method(D_METHOD("link_set_navigation_layers", "link", "navigation_layers"), &NavigationServer2D::link_set_navigation_layers);
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	ClassDB::bind_method(D_METHOD("link_get_navigation_layers", "link"), &NavigationServer2D::link_get_navigation_layers);
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	ClassDB::bind_method(D_METHOD("link_set_start_position", "link", "position"), &NavigationServer2D::link_set_start_position);
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	ClassDB::bind_method(D_METHOD("link_get_start_position", "link"), &NavigationServer2D::link_get_start_position);
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	ClassDB::bind_method(D_METHOD("link_set_end_position", "link", "position"), &NavigationServer2D::link_set_end_position);
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	ClassDB::bind_method(D_METHOD("link_get_end_position", "link"), &NavigationServer2D::link_get_end_position);
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	ClassDB::bind_method(D_METHOD("link_set_enter_cost", "link", "enter_cost"), &NavigationServer2D::link_set_enter_cost);
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	ClassDB::bind_method(D_METHOD("link_get_enter_cost", "link"), &NavigationServer2D::link_get_enter_cost);
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	ClassDB::bind_method(D_METHOD("link_set_travel_cost", "link", "travel_cost"), &NavigationServer2D::link_set_travel_cost);
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	ClassDB::bind_method(D_METHOD("link_get_travel_cost", "link"), &NavigationServer2D::link_get_travel_cost);
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	ClassDB::bind_method(D_METHOD("link_set_owner_id", "link", "owner_id"), &NavigationServer2D::link_set_owner_id);
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	ClassDB::bind_method(D_METHOD("link_get_owner_id", "link"), &NavigationServer2D::link_get_owner_id);
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	ClassDB::bind_method(D_METHOD("agent_create"), &NavigationServer2D::agent_create);
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	ClassDB::bind_method(D_METHOD("agent_set_avoidance_enabled", "agent", "enabled"), &NavigationServer2D::agent_set_avoidance_enabled);
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	ClassDB::bind_method(D_METHOD("agent_get_avoidance_enabled", "agent"), &NavigationServer2D::agent_get_avoidance_enabled);
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	ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &NavigationServer2D::agent_set_map);
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	ClassDB::bind_method(D_METHOD("agent_get_map", "agent"), &NavigationServer2D::agent_get_map);
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	ClassDB::bind_method(D_METHOD("agent_set_paused", "agent", "paused"), &NavigationServer2D::agent_set_paused);
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	ClassDB::bind_method(D_METHOD("agent_get_paused", "agent"), &NavigationServer2D::agent_get_paused);
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	ClassDB::bind_method(D_METHOD("agent_set_neighbor_distance", "agent", "distance"), &NavigationServer2D::agent_set_neighbor_distance);
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	ClassDB::bind_method(D_METHOD("agent_get_neighbor_distance", "agent"), &NavigationServer2D::agent_get_neighbor_distance);
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	ClassDB::bind_method(D_METHOD("agent_set_max_neighbors", "agent", "count"), &NavigationServer2D::agent_set_max_neighbors);
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	ClassDB::bind_method(D_METHOD("agent_get_max_neighbors", "agent"), &NavigationServer2D::agent_get_max_neighbors);
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	ClassDB::bind_method(D_METHOD("agent_set_time_horizon_agents", "agent", "time_horizon"), &NavigationServer2D::agent_set_time_horizon_agents);
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	ClassDB::bind_method(D_METHOD("agent_get_time_horizon_agents", "agent"), &NavigationServer2D::agent_get_time_horizon_agents);
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	ClassDB::bind_method(D_METHOD("agent_set_time_horizon_obstacles", "agent", "time_horizon"), &NavigationServer2D::agent_set_time_horizon_obstacles);
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	ClassDB::bind_method(D_METHOD("agent_get_time_horizon_obstacles", "agent"), &NavigationServer2D::agent_get_time_horizon_obstacles);
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	ClassDB::bind_method(D_METHOD("agent_set_radius", "agent", "radius"), &NavigationServer2D::agent_set_radius);
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	ClassDB::bind_method(D_METHOD("agent_get_radius", "agent"), &NavigationServer2D::agent_get_radius);
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	ClassDB::bind_method(D_METHOD("agent_set_max_speed", "agent", "max_speed"), &NavigationServer2D::agent_set_max_speed);
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	ClassDB::bind_method(D_METHOD("agent_get_max_speed", "agent"), &NavigationServer2D::agent_get_max_speed);
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	ClassDB::bind_method(D_METHOD("agent_set_velocity_forced", "agent", "velocity"), &NavigationServer2D::agent_set_velocity_forced);
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	ClassDB::bind_method(D_METHOD("agent_set_velocity", "agent", "velocity"), &NavigationServer2D::agent_set_velocity);
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	ClassDB::bind_method(D_METHOD("agent_get_velocity", "agent"), &NavigationServer2D::agent_get_velocity);
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	ClassDB::bind_method(D_METHOD("agent_set_position", "agent", "position"), &NavigationServer2D::agent_set_position);
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	ClassDB::bind_method(D_METHOD("agent_get_position", "agent"), &NavigationServer2D::agent_get_position);
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	ClassDB::bind_method(D_METHOD("agent_is_map_changed", "agent"), &NavigationServer2D::agent_is_map_changed);
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	ClassDB::bind_method(D_METHOD("agent_set_avoidance_callback", "agent", "callback"), &NavigationServer2D::agent_set_avoidance_callback);
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	ClassDB::bind_method(D_METHOD("agent_has_avoidance_callback", "agent"), &NavigationServer2D::agent_has_avoidance_callback);
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	ClassDB::bind_method(D_METHOD("agent_set_avoidance_layers", "agent", "layers"), &NavigationServer2D::agent_set_avoidance_layers);
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	ClassDB::bind_method(D_METHOD("agent_get_avoidance_layers", "agent"), &NavigationServer2D::agent_get_avoidance_layers);
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	ClassDB::bind_method(D_METHOD("agent_set_avoidance_mask", "agent", "mask"), &NavigationServer2D::agent_set_avoidance_mask);
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	ClassDB::bind_method(D_METHOD("agent_get_avoidance_mask", "agent"), &NavigationServer2D::agent_get_avoidance_mask);
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	ClassDB::bind_method(D_METHOD("agent_set_avoidance_priority", "agent", "priority"), &NavigationServer2D::agent_set_avoidance_priority);
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	ClassDB::bind_method(D_METHOD("agent_get_avoidance_priority", "agent"), &NavigationServer2D::agent_get_avoidance_priority);
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	ClassDB::bind_method(D_METHOD("obstacle_create"), &NavigationServer2D::obstacle_create);
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	ClassDB::bind_method(D_METHOD("obstacle_set_avoidance_enabled", "obstacle", "enabled"), &NavigationServer2D::obstacle_set_avoidance_enabled);
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	ClassDB::bind_method(D_METHOD("obstacle_get_avoidance_enabled", "obstacle"), &NavigationServer2D::obstacle_get_avoidance_enabled);
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	ClassDB::bind_method(D_METHOD("obstacle_set_map", "obstacle", "map"), &NavigationServer2D::obstacle_set_map);
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	ClassDB::bind_method(D_METHOD("obstacle_get_map", "obstacle"), &NavigationServer2D::obstacle_get_map);
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	ClassDB::bind_method(D_METHOD("obstacle_set_paused", "obstacle", "paused"), &NavigationServer2D::obstacle_set_paused);
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	ClassDB::bind_method(D_METHOD("obstacle_get_paused", "obstacle"), &NavigationServer2D::obstacle_get_paused);
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	ClassDB::bind_method(D_METHOD("obstacle_set_radius", "obstacle", "radius"), &NavigationServer2D::obstacle_set_radius);
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	ClassDB::bind_method(D_METHOD("obstacle_get_radius", "obstacle"), &NavigationServer2D::obstacle_get_radius);
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	ClassDB::bind_method(D_METHOD("obstacle_set_velocity", "obstacle", "velocity"), &NavigationServer2D::obstacle_set_velocity);
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	ClassDB::bind_method(D_METHOD("obstacle_get_velocity", "obstacle"), &NavigationServer2D::obstacle_get_velocity);
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	ClassDB::bind_method(D_METHOD("obstacle_set_position", "obstacle", "position"), &NavigationServer2D::obstacle_set_position);
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	ClassDB::bind_method(D_METHOD("obstacle_get_position", "obstacle"), &NavigationServer2D::obstacle_get_position);
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	ClassDB::bind_method(D_METHOD("obstacle_set_vertices", "obstacle", "vertices"), &NavigationServer2D::obstacle_set_vertices);
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	ClassDB::bind_method(D_METHOD("obstacle_get_vertices", "obstacle"), &NavigationServer2D::obstacle_get_vertices);
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	ClassDB::bind_method(D_METHOD("obstacle_set_avoidance_layers", "obstacle", "layers"), &NavigationServer2D::obstacle_set_avoidance_layers);
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	ClassDB::bind_method(D_METHOD("obstacle_get_avoidance_layers", "obstacle"), &NavigationServer2D::obstacle_get_avoidance_layers);
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	ClassDB::bind_method(D_METHOD("parse_source_geometry_data", "navigation_polygon", "source_geometry_data", "root_node", "callback"), &NavigationServer2D::parse_source_geometry_data, DEFVAL(Callable()));
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	ClassDB::bind_method(D_METHOD("bake_from_source_geometry_data", "navigation_polygon", "source_geometry_data", "callback"), &NavigationServer2D::bake_from_source_geometry_data, DEFVAL(Callable()));
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	ClassDB::bind_method(D_METHOD("bake_from_source_geometry_data_async", "navigation_polygon", "source_geometry_data", "callback"), &NavigationServer2D::bake_from_source_geometry_data_async, DEFVAL(Callable()));
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	ClassDB::bind_method(D_METHOD("is_baking_navigation_polygon", "navigation_polygon"), &NavigationServer2D::is_baking_navigation_polygon);
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	ClassDB::bind_method(D_METHOD("source_geometry_parser_create"), &NavigationServer2D::source_geometry_parser_create);
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	ClassDB::bind_method(D_METHOD("source_geometry_parser_set_callback", "parser", "callback"), &NavigationServer2D::source_geometry_parser_set_callback);
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	ClassDB::bind_method(D_METHOD("simplify_path", "path", "epsilon"), &NavigationServer2D::simplify_path);
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	ClassDB::bind_method(D_METHOD("free_rid", "rid"), &NavigationServer2D::free);
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	ClassDB::bind_method(D_METHOD("set_active", "active"), &NavigationServer2D::set_active);
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	ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationServer2D::set_debug_enabled);
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	ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationServer2D::get_debug_enabled);
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	ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map")));
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	ADD_SIGNAL(MethodInfo("navigation_debug_changed"));
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	ADD_SIGNAL(MethodInfo("avoidance_debug_changed"));
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	ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &NavigationServer2D::get_process_info);
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	BIND_ENUM_CONSTANT(INFO_ACTIVE_MAPS);
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	BIND_ENUM_CONSTANT(INFO_REGION_COUNT);
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	BIND_ENUM_CONSTANT(INFO_AGENT_COUNT);
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	BIND_ENUM_CONSTANT(INFO_LINK_COUNT);
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	BIND_ENUM_CONSTANT(INFO_POLYGON_COUNT);
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	BIND_ENUM_CONSTANT(INFO_EDGE_COUNT);
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	BIND_ENUM_CONSTANT(INFO_EDGE_MERGE_COUNT);
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	BIND_ENUM_CONSTANT(INFO_EDGE_CONNECTION_COUNT);
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	BIND_ENUM_CONSTANT(INFO_EDGE_FREE_COUNT);
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	BIND_ENUM_CONSTANT(INFO_OBSTACLE_COUNT);
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}
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NavigationServer2D *NavigationServer2D::get_singleton() {
218
	return singleton;
219
}
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NavigationServer2D::NavigationServer2D() {
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	ERR_FAIL_COND(singleton != nullptr);
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	singleton = this;
224

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	GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "navigation/2d/default_cell_size", PROPERTY_HINT_RANGE, NavigationDefaults2D::NAV_MESH_CELL_SIZE_HINT), NavigationDefaults2D::NAV_MESH_CELL_SIZE);
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	GLOBAL_DEF("navigation/2d/use_edge_connections", true);
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	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "navigation/2d/merge_rasterizer_cell_scale", PROPERTY_HINT_RANGE, "0.001,1,0.001,or_greater"), 1.0);
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	GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "navigation/2d/default_edge_connection_margin", PROPERTY_HINT_RANGE, "0.01,10,0.001,or_greater"), NavigationDefaults2D::EDGE_CONNECTION_MARGIN);
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	GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "navigation/2d/default_link_connection_radius", PROPERTY_HINT_RANGE, "0.01,10,0.001,or_greater"), NavigationDefaults2D::LINK_CONNECTION_RADIUS);
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#ifdef DEBUG_ENABLED
232
	debug_navigation_edge_connection_color = GLOBAL_DEF("debug/shapes/navigation/2d/edge_connection_color", Color(1.0, 0.0, 1.0, 1.0));
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	debug_navigation_geometry_edge_color = GLOBAL_DEF("debug/shapes/navigation/2d/geometry_edge_color", Color(0.5, 1.0, 1.0, 1.0));
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	debug_navigation_geometry_face_color = GLOBAL_DEF("debug/shapes/navigation/2d/geometry_face_color", Color(0.5, 1.0, 1.0, 0.4));
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	debug_navigation_geometry_edge_disabled_color = GLOBAL_DEF("debug/shapes/navigation/2d/geometry_edge_disabled_color", Color(0.5, 0.5, 0.5, 1.0));
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	debug_navigation_geometry_face_disabled_color = GLOBAL_DEF("debug/shapes/navigation/2d/geometry_face_disabled_color", Color(0.5, 0.5, 0.5, 0.4));
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	debug_navigation_link_connection_color = GLOBAL_DEF("debug/shapes/navigation/2d/link_connection_color", Color(1.0, 0.5, 1.0, 1.0));
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	debug_navigation_link_connection_disabled_color = GLOBAL_DEF("debug/shapes/navigation/2d/link_connection_disabled_color", Color(0.5, 0.5, 0.5, 1.0));
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	debug_navigation_agent_path_color = GLOBAL_DEF("debug/shapes/navigation/2d/agent_path_color", Color(1.0, 0.0, 0.0, 1.0));
240

241
	debug_navigation_enable_edge_connections = GLOBAL_DEF("debug/shapes/navigation/2d/enable_edge_connections", true);
242
	debug_navigation_enable_edge_lines = GLOBAL_DEF("debug/shapes/navigation/2d/enable_edge_lines", true);
243
	debug_navigation_enable_geometry_face_random_color = GLOBAL_DEF("debug/shapes/navigation/2d/enable_geometry_face_random_color", true);
244
	debug_navigation_enable_link_connections = GLOBAL_DEF("debug/shapes/navigation/2d/enable_link_connections", true);
245

246
	debug_navigation_enable_agent_paths = GLOBAL_DEF("debug/shapes/navigation/2d/enable_agent_paths", true);
247
	debug_navigation_agent_path_point_size = GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "debug/shapes/navigation/2d/agent_path_point_size", PROPERTY_HINT_RANGE, "0.01,10,0.001,or_greater"), 4.0);
248

249
	debug_navigation_avoidance_agents_radius_color = GLOBAL_DEF("debug/shapes/avoidance/2d/agents_radius_color", Color(1.0, 1.0, 0.0, 0.25));
250
	debug_navigation_avoidance_obstacles_radius_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_radius_color", Color(1.0, 0.5, 0.0, 0.25));
251
	debug_navigation_avoidance_static_obstacle_pushin_face_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_static_face_pushin_color", Color(1.0, 0.0, 0.0, 0.0));
252
	debug_navigation_avoidance_static_obstacle_pushin_edge_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_static_edge_pushin_color", Color(1.0, 0.0, 0.0, 1.0));
253
	debug_navigation_avoidance_static_obstacle_pushout_face_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_static_face_pushout_color", Color(1.0, 1.0, 0.0, 0.5));
254
	debug_navigation_avoidance_static_obstacle_pushout_edge_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_static_edge_pushout_color", Color(1.0, 1.0, 0.0, 1.0));
255
	debug_navigation_avoidance_enable_agents_radius = GLOBAL_DEF("debug/shapes/avoidance/2d/enable_agents_radius", true);
256
	debug_navigation_avoidance_enable_obstacles_radius = GLOBAL_DEF("debug/shapes/avoidance/2d/enable_obstacles_radius", true);
257
	debug_navigation_avoidance_enable_obstacles_static = GLOBAL_DEF("debug/shapes/avoidance/2d/enable_obstacles_static", true);
258

259
	if (Engine::get_singleton()->is_editor_hint()) {
260
		// enable NavigationServer3D when in Editor or else navigation mesh edge connections are invisible
261
		// on runtime tests SceneTree has "Visible Navigation" set and main iteration takes care of this.
262
		set_debug_enabled(true);
263
		set_debug_navigation_enabled(true);
264
		set_debug_avoidance_enabled(true);
265
	}
266
#endif // DEBUG_ENABLED
267
}
268

269
NavigationServer2D::~NavigationServer2D() {
270
	singleton = nullptr;
271

272
	RWLockWrite write_lock(geometry_parser_rwlock);
273
	for (NavMeshGeometryParser2D *parser : generator_parsers) {
274
		geometry_parser_owner.free(parser->self);
275
	}
276
	generator_parsers.clear();
277
}
278

279
RID NavigationServer2D::source_geometry_parser_create() {
280
	RWLockWrite write_lock(geometry_parser_rwlock);
281

282
	RID rid = geometry_parser_owner.make_rid();
283

284
	NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(rid);
285
	parser->self = rid;
286

287
	generator_parsers.push_back(parser);
288

289
	return rid;
290
}
291

292
void NavigationServer2D::free(RID p_object) {
293
	if (!geometry_parser_owner.owns(p_object)) {
294
		return;
295
	}
296
	RWLockWrite write_lock(geometry_parser_rwlock);
297

298
	NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(p_object);
299
	ERR_FAIL_NULL(parser);
300

301
	generator_parsers.erase(parser);
302
	geometry_parser_owner.free(parser->self);
303
}
304

305
void NavigationServer2D::source_geometry_parser_set_callback(RID p_parser, const Callable &p_callback) {
306
	RWLockWrite write_lock(geometry_parser_rwlock);
307

308
	NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(p_parser);
309
	ERR_FAIL_NULL(parser);
310

311
	parser->callback = p_callback;
312
}
313

314
void NavigationServer2D::set_debug_enabled(bool p_enabled) {
315
#ifdef DEBUG_ENABLED
316
	if (debug_enabled != p_enabled) {
317
		debug_dirty = true;
318
	}
319

320
	debug_enabled = p_enabled;
321

322
	if (debug_dirty) {
323
		navigation_debug_dirty = true;
324
		callable_mp(this, &NavigationServer2D::_emit_navigation_debug_changed_signal).call_deferred();
325

326
		avoidance_debug_dirty = true;
327
		callable_mp(this, &NavigationServer2D::_emit_avoidance_debug_changed_signal).call_deferred();
328
	}
329
#endif // DEBUG_ENABLED
330
}
331

332
bool NavigationServer2D::get_debug_enabled() const {
333
	return debug_enabled;
334
}
335

336
#ifdef DEBUG_ENABLED
337
void NavigationServer2D::_emit_navigation_debug_changed_signal() {
338
	if (navigation_debug_dirty) {
339
		navigation_debug_dirty = false;
340
		emit_signal(SNAME("navigation_debug_changed"));
341
	}
342
}
343

344
void NavigationServer2D::_emit_avoidance_debug_changed_signal() {
345
	if (avoidance_debug_dirty) {
346
		avoidance_debug_dirty = false;
347
		emit_signal(SNAME("avoidance_debug_changed"));
348
	}
349
}
350
#endif // DEBUG_ENABLED
351

352
#ifdef DEBUG_ENABLED
353
void NavigationServer2D::set_debug_navigation_enabled(bool p_enabled) {
354
	debug_navigation_enabled = p_enabled;
355
	navigation_debug_dirty = true;
356
	callable_mp(this, &NavigationServer2D::_emit_navigation_debug_changed_signal).call_deferred();
357
}
358

359
bool NavigationServer2D::get_debug_navigation_enabled() const {
360
	return debug_navigation_enabled;
361
}
362

363
void NavigationServer2D::set_debug_avoidance_enabled(bool p_enabled) {
364
	debug_avoidance_enabled = p_enabled;
365
	avoidance_debug_dirty = true;
366
	callable_mp(this, &NavigationServer2D::_emit_avoidance_debug_changed_signal).call_deferred();
367
}
368

369
bool NavigationServer2D::get_debug_avoidance_enabled() const {
370
	return debug_avoidance_enabled;
371
}
372

373
void NavigationServer2D::set_debug_navigation_edge_connection_color(const Color &p_color) {
374
	debug_navigation_edge_connection_color = p_color;
375
}
376

377
Color NavigationServer2D::get_debug_navigation_edge_connection_color() const {
378
	return debug_navigation_edge_connection_color;
379
}
380

381
void NavigationServer2D::set_debug_navigation_geometry_face_color(const Color &p_color) {
382
	debug_navigation_geometry_face_color = p_color;
383
}
384

385
Color NavigationServer2D::get_debug_navigation_geometry_face_color() const {
386
	return debug_navigation_geometry_face_color;
387
}
388

389
void NavigationServer2D::set_debug_navigation_geometry_face_disabled_color(const Color &p_color) {
390
	debug_navigation_geometry_face_disabled_color = p_color;
391
}
392

393
Color NavigationServer2D::get_debug_navigation_geometry_face_disabled_color() const {
394
	return debug_navigation_geometry_face_disabled_color;
395
}
396

397
void NavigationServer2D::set_debug_navigation_link_connection_color(const Color &p_color) {
398
	debug_navigation_link_connection_color = p_color;
399
}
400

401
Color NavigationServer2D::get_debug_navigation_link_connection_color() const {
402
	return debug_navigation_link_connection_color;
403
}
404

405
void NavigationServer2D::set_debug_navigation_link_connection_disabled_color(const Color &p_color) {
406
	debug_navigation_link_connection_disabled_color = p_color;
407
}
408

409
Color NavigationServer2D::get_debug_navigation_link_connection_disabled_color() const {
410
	return debug_navigation_link_connection_disabled_color;
411
}
412

413
void NavigationServer2D::set_debug_navigation_geometry_edge_color(const Color &p_color) {
414
	debug_navigation_geometry_edge_color = p_color;
415
}
416

417
Color NavigationServer2D::get_debug_navigation_geometry_edge_color() const {
418
	return debug_navigation_geometry_edge_color;
419
}
420

421
void NavigationServer2D::set_debug_navigation_geometry_edge_disabled_color(const Color &p_color) {
422
	debug_navigation_geometry_edge_disabled_color = p_color;
423
}
424

425
Color NavigationServer2D::get_debug_navigation_geometry_edge_disabled_color() const {
426
	return debug_navigation_geometry_edge_disabled_color;
427
}
428

429
void NavigationServer2D::set_debug_navigation_enable_edge_connections(const bool p_value) {
430
	debug_navigation_enable_edge_connections = p_value;
431
}
432

433
bool NavigationServer2D::get_debug_navigation_enable_edge_connections() const {
434
	return debug_navigation_enable_edge_connections;
435
}
436

437
void NavigationServer2D::set_debug_navigation_enable_geometry_face_random_color(const bool p_value) {
438
	debug_navigation_enable_geometry_face_random_color = p_value;
439
}
440

441
bool NavigationServer2D::get_debug_navigation_enable_geometry_face_random_color() const {
442
	return debug_navigation_enable_geometry_face_random_color;
443
}
444

445
void NavigationServer2D::set_debug_navigation_enable_edge_lines(const bool p_value) {
446
	debug_navigation_enable_edge_lines = p_value;
447
}
448

449
bool NavigationServer2D::get_debug_navigation_enable_edge_lines() const {
450
	return debug_navigation_enable_edge_lines;
451
}
452

453
void NavigationServer2D::set_debug_navigation_agent_path_color(const Color &p_color) {
454
	debug_navigation_agent_path_color = p_color;
455
}
456

457
Color NavigationServer2D::get_debug_navigation_agent_path_color() const {
458
	return debug_navigation_agent_path_color;
459
}
460

461
void NavigationServer2D::set_debug_navigation_enable_agent_paths(const bool p_value) {
462
	debug_navigation_enable_agent_paths = p_value;
463
}
464

465
bool NavigationServer2D::get_debug_navigation_enable_agent_paths() const {
466
	return debug_navigation_enable_agent_paths;
467
}
468

469
void NavigationServer2D::set_debug_navigation_agent_path_point_size(real_t p_point_size) {
470
	debug_navigation_agent_path_point_size = p_point_size;
471
}
472

473
real_t NavigationServer2D::get_debug_navigation_agent_path_point_size() const {
474
	return debug_navigation_agent_path_point_size;
475
}
476

477
void NavigationServer2D::set_debug_navigation_avoidance_enable_agents_radius(const bool p_value) {
478
	debug_navigation_avoidance_enable_agents_radius = p_value;
479
}
480

481
bool NavigationServer2D::get_debug_navigation_avoidance_enable_agents_radius() const {
482
	return debug_navigation_avoidance_enable_agents_radius;
483
}
484

485
void NavigationServer2D::set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value) {
486
	debug_navigation_avoidance_enable_obstacles_radius = p_value;
487
}
488

489
bool NavigationServer2D::get_debug_navigation_avoidance_enable_obstacles_radius() const {
490
	return debug_navigation_avoidance_enable_obstacles_radius;
491
}
492

493
void NavigationServer2D::set_debug_navigation_avoidance_agents_radius_color(const Color &p_color) {
494
	debug_navigation_avoidance_agents_radius_color = p_color;
495
}
496

497
Color NavigationServer2D::get_debug_navigation_avoidance_agents_radius_color() const {
498
	return debug_navigation_avoidance_agents_radius_color;
499
}
500

501
void NavigationServer2D::set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color) {
502
	debug_navigation_avoidance_obstacles_radius_color = p_color;
503
}
504

505
Color NavigationServer2D::get_debug_navigation_avoidance_obstacles_radius_color() const {
506
	return debug_navigation_avoidance_obstacles_radius_color;
507
}
508

509
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color) {
510
	debug_navigation_avoidance_static_obstacle_pushin_face_color = p_color;
511
}
512

513
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const {
514
	return debug_navigation_avoidance_static_obstacle_pushin_face_color;
515
}
516

517
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color) {
518
	debug_navigation_avoidance_static_obstacle_pushout_face_color = p_color;
519
}
520

521
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const {
522
	return debug_navigation_avoidance_static_obstacle_pushout_face_color;
523
}
524

525
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color) {
526
	debug_navigation_avoidance_static_obstacle_pushin_edge_color = p_color;
527
}
528

529
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const {
530
	return debug_navigation_avoidance_static_obstacle_pushin_edge_color;
531
}
532

533
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color) {
534
	debug_navigation_avoidance_static_obstacle_pushout_edge_color = p_color;
535
}
536

537
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const {
538
	return debug_navigation_avoidance_static_obstacle_pushout_edge_color;
539
}
540

541
void NavigationServer2D::set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value) {
542
	debug_navigation_avoidance_enable_obstacles_static = p_value;
543
}
544

545
bool NavigationServer2D::get_debug_navigation_avoidance_enable_obstacles_static() const {
546
	return debug_navigation_avoidance_enable_obstacles_static;
547
}
548
#endif // DEBUG_ENABLED
549

550
///////////////////////////////////////////////////////
551

552
static NavigationServer2D *navigation_server_2d = nullptr;
553

554
NavigationServer2DCallback NavigationServer2DManager::create_callback = nullptr;
555

556
void NavigationServer2DManager::set_default_server(NavigationServer2DCallback p_callback) {
557
	create_callback = p_callback;
558
}
559

560
NavigationServer2D *NavigationServer2DManager::new_default_server() {
561
	if (create_callback == nullptr) {
562
		return nullptr;
563
	}
564

565
	return create_callback();
566
}
567

568
void NavigationServer2DManager::initialize_server() {
569
	ERR_FAIL_COND(navigation_server_2d != nullptr);
570

571
	// Init 2D Navigation Server
572
	navigation_server_2d = NavigationServer2DManager::new_default_server();
573
	if (!navigation_server_2d) {
574
		WARN_VERBOSE("Failed to initialize NavigationServer2D. Fall back to dummy server.");
575
		navigation_server_2d = memnew(NavigationServer2DDummy);
576
	}
577

578
	ERR_FAIL_NULL_MSG(navigation_server_2d, "Failed to initialize NavigationServer2D.");
579
	navigation_server_2d->init();
580
}
581

582
void NavigationServer2DManager::finalize_server() {
583
	ERR_FAIL_NULL(navigation_server_2d);
584
	navigation_server_2d->finish();
585
	memdelete(navigation_server_2d);
586
	navigation_server_2d = nullptr;
587
}
588

589
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