CoCalc -- navigation_server

GitHub Repository: godotengine/godot
Path: blob/master/servers/navigation_server_3d.cpp
⁹⁸⁸⁷ views
1
/**************************************************************************/
2
/*  navigation_server_3d.cpp                                              */
3
/**************************************************************************/
4
/*                         This file is part of:                          */
5
/*                             GODOT ENGINE                               */
6
/*                        https://godotengine.org                         */
7
/**************************************************************************/
8
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
10
/*                                                                        */
11
/* Permission is hereby granted, free of charge, to any person obtaining  */
12
/* a copy of this software and associated documentation files (the        */
13
/* "Software"), to deal in the Software without restriction, including    */
14
/* without limitation the rights to use, copy, modify, merge, publish,    */
15
/* distribute, sublicense, and/or sell copies of the Software, and to     */
16
/* permit persons to whom the Software is furnished to do so, subject to  */
17
/* the following conditions:                                              */
18
/*                                                                        */
19
/* The above copyright notice and this permission notice shall be         */
20
/* included in all copies or substantial portions of the Software.        */
21
/*                                                                        */
22
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
23
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
24
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
25
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
26
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
27
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
28
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
29
/**************************************************************************/
30

31
#include "navigation_server_3d.h"
32
#include "navigation_server_3d.compat.inc"
33

34
#include "core/config/project_settings.h"
35
#include "scene/main/node.h"
36
#include "servers/navigation/navigation_globals.h"
37
#include "servers/navigation_server_3d_dummy.h"
38

39
NavigationServer3D *NavigationServer3D::singleton = nullptr;
40

41
RWLock NavigationServer3D::geometry_parser_rwlock;
42
RID_Owner<NavMeshGeometryParser3D> NavigationServer3D::geometry_parser_owner;
43
LocalVector<NavMeshGeometryParser3D *> NavigationServer3D::generator_parsers;
44

45
void NavigationServer3D::_bind_methods() {
46
	ClassDB::bind_method(D_METHOD("get_maps"), &NavigationServer3D::get_maps);
47

48
	ClassDB::bind_method(D_METHOD("map_create"), &NavigationServer3D::map_create);
49
	ClassDB::bind_method(D_METHOD("map_set_active", "map", "active"), &NavigationServer3D::map_set_active);
50
	ClassDB::bind_method(D_METHOD("map_is_active", "map"), &NavigationServer3D::map_is_active);
51
	ClassDB::bind_method(D_METHOD("map_set_up", "map", "up"), &NavigationServer3D::map_set_up);
52
	ClassDB::bind_method(D_METHOD("map_get_up", "map"), &NavigationServer3D::map_get_up);
53
	ClassDB::bind_method(D_METHOD("map_set_cell_size", "map", "cell_size"), &NavigationServer3D::map_set_cell_size);
54
	ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer3D::map_get_cell_size);
55
	ClassDB::bind_method(D_METHOD("map_set_cell_height", "map", "cell_height"), &NavigationServer3D::map_set_cell_height);
56
	ClassDB::bind_method(D_METHOD("map_get_cell_height", "map"), &NavigationServer3D::map_get_cell_height);
57
	ClassDB::bind_method(D_METHOD("map_set_merge_rasterizer_cell_scale", "map", "scale"), &NavigationServer3D::map_set_merge_rasterizer_cell_scale);
58
	ClassDB::bind_method(D_METHOD("map_get_merge_rasterizer_cell_scale", "map"), &NavigationServer3D::map_get_merge_rasterizer_cell_scale);
59
	ClassDB::bind_method(D_METHOD("map_set_use_edge_connections", "map", "enabled"), &NavigationServer3D::map_set_use_edge_connections);
60
	ClassDB::bind_method(D_METHOD("map_get_use_edge_connections", "map"), &NavigationServer3D::map_get_use_edge_connections);
61
	ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer3D::map_set_edge_connection_margin);
62
	ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer3D::map_get_edge_connection_margin);
63
	ClassDB::bind_method(D_METHOD("map_set_link_connection_radius", "map", "radius"), &NavigationServer3D::map_set_link_connection_radius);
64
	ClassDB::bind_method(D_METHOD("map_get_link_connection_radius", "map"), &NavigationServer3D::map_get_link_connection_radius);
65
	ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "navigation_layers"), &NavigationServer3D::map_get_path, DEFVAL(1));
66
	ClassDB::bind_method(D_METHOD("map_get_closest_point_to_segment", "map", "start", "end", "use_collision"), &NavigationServer3D::map_get_closest_point_to_segment, DEFVAL(false));
67
	ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer3D::map_get_closest_point);
68
	ClassDB::bind_method(D_METHOD("map_get_closest_point_normal", "map", "to_point"), &NavigationServer3D::map_get_closest_point_normal);
69
	ClassDB::bind_method(D_METHOD("map_get_closest_point_owner", "map", "to_point"), &NavigationServer3D::map_get_closest_point_owner);
70

71
	ClassDB::bind_method(D_METHOD("map_get_links", "map"), &NavigationServer3D::map_get_links);
72
	ClassDB::bind_method(D_METHOD("map_get_regions", "map"), &NavigationServer3D::map_get_regions);
73
	ClassDB::bind_method(D_METHOD("map_get_agents", "map"), &NavigationServer3D::map_get_agents);
74
	ClassDB::bind_method(D_METHOD("map_get_obstacles", "map"), &NavigationServer3D::map_get_obstacles);
75

76
	ClassDB::bind_method(D_METHOD("map_force_update", "map"), &NavigationServer3D::map_force_update);
77
	ClassDB::bind_method(D_METHOD("map_get_iteration_id", "map"), &NavigationServer3D::map_get_iteration_id);
78
	ClassDB::bind_method(D_METHOD("map_set_use_async_iterations", "map", "enabled"), &NavigationServer3D::map_set_use_async_iterations);
79
	ClassDB::bind_method(D_METHOD("map_get_use_async_iterations", "map"), &NavigationServer3D::map_get_use_async_iterations);
80

81
	ClassDB::bind_method(D_METHOD("map_get_random_point", "map", "navigation_layers", "uniformly"), &NavigationServer3D::map_get_random_point);
82

83
	ClassDB::bind_method(D_METHOD("query_path", "parameters", "result", "callback"), &NavigationServer3D::query_path, DEFVAL(Callable()));
84

85
	ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer3D::region_create);
86
	ClassDB::bind_method(D_METHOD("region_get_iteration_id", "region"), &NavigationServer3D::region_get_iteration_id);
87
	ClassDB::bind_method(D_METHOD("region_set_use_async_iterations", "region", "enabled"), &NavigationServer3D::region_set_use_async_iterations);
88
	ClassDB::bind_method(D_METHOD("region_get_use_async_iterations", "region"), &NavigationServer3D::region_get_use_async_iterations);
89
	ClassDB::bind_method(D_METHOD("region_set_enabled", "region", "enabled"), &NavigationServer3D::region_set_enabled);
90
	ClassDB::bind_method(D_METHOD("region_get_enabled", "region"), &NavigationServer3D::region_get_enabled);
91
	ClassDB::bind_method(D_METHOD("region_set_use_edge_connections", "region", "enabled"), &NavigationServer3D::region_set_use_edge_connections);
92
	ClassDB::bind_method(D_METHOD("region_get_use_edge_connections", "region"), &NavigationServer3D::region_get_use_edge_connections);
93
	ClassDB::bind_method(D_METHOD("region_set_enter_cost", "region", "enter_cost"), &NavigationServer3D::region_set_enter_cost);
94
	ClassDB::bind_method(D_METHOD("region_get_enter_cost", "region"), &NavigationServer3D::region_get_enter_cost);
95
	ClassDB::bind_method(D_METHOD("region_set_travel_cost", "region", "travel_cost"), &NavigationServer3D::region_set_travel_cost);
96
	ClassDB::bind_method(D_METHOD("region_get_travel_cost", "region"), &NavigationServer3D::region_get_travel_cost);
97
	ClassDB::bind_method(D_METHOD("region_set_owner_id", "region", "owner_id"), &NavigationServer3D::region_set_owner_id);
98
	ClassDB::bind_method(D_METHOD("region_get_owner_id", "region"), &NavigationServer3D::region_get_owner_id);
99
	ClassDB::bind_method(D_METHOD("region_owns_point", "region", "point"), &NavigationServer3D::region_owns_point);
100
	ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &NavigationServer3D::region_set_map);
101
	ClassDB::bind_method(D_METHOD("region_get_map", "region"), &NavigationServer3D::region_get_map);
102
	ClassDB::bind_method(D_METHOD("region_set_navigation_layers", "region", "navigation_layers"), &NavigationServer3D::region_set_navigation_layers);
103
	ClassDB::bind_method(D_METHOD("region_get_navigation_layers", "region"), &NavigationServer3D::region_get_navigation_layers);
104
	ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &NavigationServer3D::region_set_transform);
105
	ClassDB::bind_method(D_METHOD("region_get_transform", "region"), &NavigationServer3D::region_get_transform);
106
	ClassDB::bind_method(D_METHOD("region_set_navigation_mesh", "region", "navigation_mesh"), &NavigationServer3D::region_set_navigation_mesh);
107
#ifndef DISABLE_DEPRECATED
108
	ClassDB::bind_method(D_METHOD("region_bake_navigation_mesh", "navigation_mesh", "root_node"), &NavigationServer3D::region_bake_navigation_mesh);
109
#endif // DISABLE_DEPRECATED
110
	ClassDB::bind_method(D_METHOD("region_get_connections_count", "region"), &NavigationServer3D::region_get_connections_count);
111
	ClassDB::bind_method(D_METHOD("region_get_connection_pathway_start", "region", "connection"), &NavigationServer3D::region_get_connection_pathway_start);
112
	ClassDB::bind_method(D_METHOD("region_get_connection_pathway_end", "region", "connection"), &NavigationServer3D::region_get_connection_pathway_end);
113
	ClassDB::bind_method(D_METHOD("region_get_closest_point_to_segment", "region", "start", "end", "use_collision"), &NavigationServer3D::region_get_closest_point_to_segment, DEFVAL(false));
114
	ClassDB::bind_method(D_METHOD("region_get_closest_point", "region", "to_point"), &NavigationServer3D::region_get_closest_point);
115
	ClassDB::bind_method(D_METHOD("region_get_closest_point_normal", "region", "to_point"), &NavigationServer3D::region_get_closest_point_normal);
116
	ClassDB::bind_method(D_METHOD("region_get_random_point", "region", "navigation_layers", "uniformly"), &NavigationServer3D::region_get_random_point);
117
	ClassDB::bind_method(D_METHOD("region_get_bounds", "region"), &NavigationServer3D::region_get_bounds);
118

119
	ClassDB::bind_method(D_METHOD("link_create"), &NavigationServer3D::link_create);
120
	ClassDB::bind_method(D_METHOD("link_get_iteration_id", "link"), &NavigationServer3D::link_get_iteration_id);
121
	ClassDB::bind_method(D_METHOD("link_set_map", "link", "map"), &NavigationServer3D::link_set_map);
122
	ClassDB::bind_method(D_METHOD("link_get_map", "link"), &NavigationServer3D::link_get_map);
123
	ClassDB::bind_method(D_METHOD("link_set_enabled", "link", "enabled"), &NavigationServer3D::link_set_enabled);
124
	ClassDB::bind_method(D_METHOD("link_get_enabled", "link"), &NavigationServer3D::link_get_enabled);
125
	ClassDB::bind_method(D_METHOD("link_set_bidirectional", "link", "bidirectional"), &NavigationServer3D::link_set_bidirectional);
126
	ClassDB::bind_method(D_METHOD("link_is_bidirectional", "link"), &NavigationServer3D::link_is_bidirectional);
127
	ClassDB::bind_method(D_METHOD("link_set_navigation_layers", "link", "navigation_layers"), &NavigationServer3D::link_set_navigation_layers);
128
	ClassDB::bind_method(D_METHOD("link_get_navigation_layers", "link"), &NavigationServer3D::link_get_navigation_layers);
129
	ClassDB::bind_method(D_METHOD("link_set_start_position", "link", "position"), &NavigationServer3D::link_set_start_position);
130
	ClassDB::bind_method(D_METHOD("link_get_start_position", "link"), &NavigationServer3D::link_get_start_position);
131
	ClassDB::bind_method(D_METHOD("link_set_end_position", "link", "position"), &NavigationServer3D::link_set_end_position);
132
	ClassDB::bind_method(D_METHOD("link_get_end_position", "link"), &NavigationServer3D::link_get_end_position);
133
	ClassDB::bind_method(D_METHOD("link_set_enter_cost", "link", "enter_cost"), &NavigationServer3D::link_set_enter_cost);
134
	ClassDB::bind_method(D_METHOD("link_get_enter_cost", "link"), &NavigationServer3D::link_get_enter_cost);
135
	ClassDB::bind_method(D_METHOD("link_set_travel_cost", "link", "travel_cost"), &NavigationServer3D::link_set_travel_cost);
136
	ClassDB::bind_method(D_METHOD("link_get_travel_cost", "link"), &NavigationServer3D::link_get_travel_cost);
137
	ClassDB::bind_method(D_METHOD("link_set_owner_id", "link", "owner_id"), &NavigationServer3D::link_set_owner_id);
138
	ClassDB::bind_method(D_METHOD("link_get_owner_id", "link"), &NavigationServer3D::link_get_owner_id);
139

140
	ClassDB::bind_method(D_METHOD("agent_create"), &NavigationServer3D::agent_create);
141
	ClassDB::bind_method(D_METHOD("agent_set_avoidance_enabled", "agent", "enabled"), &NavigationServer3D::agent_set_avoidance_enabled);
142
	ClassDB::bind_method(D_METHOD("agent_get_avoidance_enabled", "agent"), &NavigationServer3D::agent_get_avoidance_enabled);
143
	ClassDB::bind_method(D_METHOD("agent_set_use_3d_avoidance", "agent", "enabled"), &NavigationServer3D::agent_set_use_3d_avoidance);
144
	ClassDB::bind_method(D_METHOD("agent_get_use_3d_avoidance", "agent"), &NavigationServer3D::agent_get_use_3d_avoidance);
145

146
	ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &NavigationServer3D::agent_set_map);
147
	ClassDB::bind_method(D_METHOD("agent_get_map", "agent"), &NavigationServer3D::agent_get_map);
148
	ClassDB::bind_method(D_METHOD("agent_set_paused", "agent", "paused"), &NavigationServer3D::agent_set_paused);
149
	ClassDB::bind_method(D_METHOD("agent_get_paused", "agent"), &NavigationServer3D::agent_get_paused);
150
	ClassDB::bind_method(D_METHOD("agent_set_neighbor_distance", "agent", "distance"), &NavigationServer3D::agent_set_neighbor_distance);
151
	ClassDB::bind_method(D_METHOD("agent_get_neighbor_distance", "agent"), &NavigationServer3D::agent_get_neighbor_distance);
152
	ClassDB::bind_method(D_METHOD("agent_set_max_neighbors", "agent", "count"), &NavigationServer3D::agent_set_max_neighbors);
153
	ClassDB::bind_method(D_METHOD("agent_get_max_neighbors", "agent"), &NavigationServer3D::agent_get_max_neighbors);
154
	ClassDB::bind_method(D_METHOD("agent_set_time_horizon_agents", "agent", "time_horizon"), &NavigationServer3D::agent_set_time_horizon_agents);
155
	ClassDB::bind_method(D_METHOD("agent_get_time_horizon_agents", "agent"), &NavigationServer3D::agent_get_time_horizon_agents);
156
	ClassDB::bind_method(D_METHOD("agent_set_time_horizon_obstacles", "agent", "time_horizon"), &NavigationServer3D::agent_set_time_horizon_obstacles);
157
	ClassDB::bind_method(D_METHOD("agent_get_time_horizon_obstacles", "agent"), &NavigationServer3D::agent_get_time_horizon_obstacles);
158
	ClassDB::bind_method(D_METHOD("agent_set_radius", "agent", "radius"), &NavigationServer3D::agent_set_radius);
159
	ClassDB::bind_method(D_METHOD("agent_get_radius", "agent"), &NavigationServer3D::agent_get_radius);
160
	ClassDB::bind_method(D_METHOD("agent_set_height", "agent", "height"), &NavigationServer3D::agent_set_height);
161
	ClassDB::bind_method(D_METHOD("agent_get_height", "agent"), &NavigationServer3D::agent_get_height);
162
	ClassDB::bind_method(D_METHOD("agent_set_max_speed", "agent", "max_speed"), &NavigationServer3D::agent_set_max_speed);
163
	ClassDB::bind_method(D_METHOD("agent_get_max_speed", "agent"), &NavigationServer3D::agent_get_max_speed);
164
	ClassDB::bind_method(D_METHOD("agent_set_velocity_forced", "agent", "velocity"), &NavigationServer3D::agent_set_velocity_forced);
165
	ClassDB::bind_method(D_METHOD("agent_set_velocity", "agent", "velocity"), &NavigationServer3D::agent_set_velocity);
166
	ClassDB::bind_method(D_METHOD("agent_get_velocity", "agent"), &NavigationServer3D::agent_get_velocity);
167
	ClassDB::bind_method(D_METHOD("agent_set_position", "agent", "position"), &NavigationServer3D::agent_set_position);
168
	ClassDB::bind_method(D_METHOD("agent_get_position", "agent"), &NavigationServer3D::agent_get_position);
169
	ClassDB::bind_method(D_METHOD("agent_is_map_changed", "agent"), &NavigationServer3D::agent_is_map_changed);
170
	ClassDB::bind_method(D_METHOD("agent_set_avoidance_callback", "agent", "callback"), &NavigationServer3D::agent_set_avoidance_callback);
171
	ClassDB::bind_method(D_METHOD("agent_has_avoidance_callback", "agent"), &NavigationServer3D::agent_has_avoidance_callback);
172
	ClassDB::bind_method(D_METHOD("agent_set_avoidance_layers", "agent", "layers"), &NavigationServer3D::agent_set_avoidance_layers);
173
	ClassDB::bind_method(D_METHOD("agent_get_avoidance_layers", "agent"), &NavigationServer3D::agent_get_avoidance_layers);
174
	ClassDB::bind_method(D_METHOD("agent_set_avoidance_mask", "agent", "mask"), &NavigationServer3D::agent_set_avoidance_mask);
175
	ClassDB::bind_method(D_METHOD("agent_get_avoidance_mask", "agent"), &NavigationServer3D::agent_get_avoidance_mask);
176
	ClassDB::bind_method(D_METHOD("agent_set_avoidance_priority", "agent", "priority"), &NavigationServer3D::agent_set_avoidance_priority);
177
	ClassDB::bind_method(D_METHOD("agent_get_avoidance_priority", "agent"), &NavigationServer3D::agent_get_avoidance_priority);
178

179
	ClassDB::bind_method(D_METHOD("obstacle_create"), &NavigationServer3D::obstacle_create);
180
	ClassDB::bind_method(D_METHOD("obstacle_set_avoidance_enabled", "obstacle", "enabled"), &NavigationServer3D::obstacle_set_avoidance_enabled);
181
	ClassDB::bind_method(D_METHOD("obstacle_get_avoidance_enabled", "obstacle"), &NavigationServer3D::obstacle_get_avoidance_enabled);
182
	ClassDB::bind_method(D_METHOD("obstacle_set_use_3d_avoidance", "obstacle", "enabled"), &NavigationServer3D::obstacle_set_use_3d_avoidance);
183
	ClassDB::bind_method(D_METHOD("obstacle_get_use_3d_avoidance", "obstacle"), &NavigationServer3D::obstacle_get_use_3d_avoidance);
184
	ClassDB::bind_method(D_METHOD("obstacle_set_map", "obstacle", "map"), &NavigationServer3D::obstacle_set_map);
185
	ClassDB::bind_method(D_METHOD("obstacle_get_map", "obstacle"), &NavigationServer3D::obstacle_get_map);
186
	ClassDB::bind_method(D_METHOD("obstacle_set_paused", "obstacle", "paused"), &NavigationServer3D::obstacle_set_paused);
187
	ClassDB::bind_method(D_METHOD("obstacle_get_paused", "obstacle"), &NavigationServer3D::obstacle_get_paused);
188
	ClassDB::bind_method(D_METHOD("obstacle_set_radius", "obstacle", "radius"), &NavigationServer3D::obstacle_set_radius);
189
	ClassDB::bind_method(D_METHOD("obstacle_get_radius", "obstacle"), &NavigationServer3D::obstacle_get_radius);
190
	ClassDB::bind_method(D_METHOD("obstacle_set_height", "obstacle", "height"), &NavigationServer3D::obstacle_set_height);
191
	ClassDB::bind_method(D_METHOD("obstacle_get_height", "obstacle"), &NavigationServer3D::obstacle_get_height);
192
	ClassDB::bind_method(D_METHOD("obstacle_set_velocity", "obstacle", "velocity"), &NavigationServer3D::obstacle_set_velocity);
193
	ClassDB::bind_method(D_METHOD("obstacle_get_velocity", "obstacle"), &NavigationServer3D::obstacle_get_velocity);
194
	ClassDB::bind_method(D_METHOD("obstacle_set_position", "obstacle", "position"), &NavigationServer3D::obstacle_set_position);
195
	ClassDB::bind_method(D_METHOD("obstacle_get_position", "obstacle"), &NavigationServer3D::obstacle_get_position);
196
	ClassDB::bind_method(D_METHOD("obstacle_set_vertices", "obstacle", "vertices"), &NavigationServer3D::obstacle_set_vertices);
197
	ClassDB::bind_method(D_METHOD("obstacle_get_vertices", "obstacle"), &NavigationServer3D::obstacle_get_vertices);
198
	ClassDB::bind_method(D_METHOD("obstacle_set_avoidance_layers", "obstacle", "layers"), &NavigationServer3D::obstacle_set_avoidance_layers);
199
	ClassDB::bind_method(D_METHOD("obstacle_get_avoidance_layers", "obstacle"), &NavigationServer3D::obstacle_get_avoidance_layers);
200

201
#ifndef _3D_DISABLED
202
	ClassDB::bind_method(D_METHOD("parse_source_geometry_data", "navigation_mesh", "source_geometry_data", "root_node", "callback"), &NavigationServer3D::parse_source_geometry_data, DEFVAL(Callable()));
203
	ClassDB::bind_method(D_METHOD("bake_from_source_geometry_data", "navigation_mesh", "source_geometry_data", "callback"), &NavigationServer3D::bake_from_source_geometry_data, DEFVAL(Callable()));
204
	ClassDB::bind_method(D_METHOD("bake_from_source_geometry_data_async", "navigation_mesh", "source_geometry_data", "callback"), &NavigationServer3D::bake_from_source_geometry_data_async, DEFVAL(Callable()));
205
	ClassDB::bind_method(D_METHOD("is_baking_navigation_mesh", "navigation_mesh"), &NavigationServer3D::is_baking_navigation_mesh);
206
#endif // _3D_DISABLED
207

208
	ClassDB::bind_method(D_METHOD("source_geometry_parser_create"), &NavigationServer3D::source_geometry_parser_create);
209
	ClassDB::bind_method(D_METHOD("source_geometry_parser_set_callback", "parser", "callback"), &NavigationServer3D::source_geometry_parser_set_callback);
210

211
	ClassDB::bind_method(D_METHOD("simplify_path", "path", "epsilon"), &NavigationServer3D::simplify_path);
212

213
	ClassDB::bind_method(D_METHOD("free_rid", "rid"), &NavigationServer3D::free);
214

215
	ClassDB::bind_method(D_METHOD("set_active", "active"), &NavigationServer3D::set_active);
216

217
	ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationServer3D::set_debug_enabled);
218
	ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationServer3D::get_debug_enabled);
219

220
	ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map")));
221

222
	ADD_SIGNAL(MethodInfo("navigation_debug_changed"));
223
	ADD_SIGNAL(MethodInfo("avoidance_debug_changed"));
224

225
	ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &NavigationServer3D::get_process_info);
226

227
	BIND_ENUM_CONSTANT(INFO_ACTIVE_MAPS);
228
	BIND_ENUM_CONSTANT(INFO_REGION_COUNT);
229
	BIND_ENUM_CONSTANT(INFO_AGENT_COUNT);
230
	BIND_ENUM_CONSTANT(INFO_LINK_COUNT);
231
	BIND_ENUM_CONSTANT(INFO_POLYGON_COUNT);
232
	BIND_ENUM_CONSTANT(INFO_EDGE_COUNT);
233
	BIND_ENUM_CONSTANT(INFO_EDGE_MERGE_COUNT);
234
	BIND_ENUM_CONSTANT(INFO_EDGE_CONNECTION_COUNT);
235
	BIND_ENUM_CONSTANT(INFO_EDGE_FREE_COUNT);
236
	BIND_ENUM_CONSTANT(INFO_OBSTACLE_COUNT);
237
}
238

239
NavigationServer3D *NavigationServer3D::get_singleton() {
240
	return singleton;
241
}
242

243
NavigationServer3D::NavigationServer3D() {
244
	ERR_FAIL_COND(singleton != nullptr);
245
	singleton = this;
246

247
	GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "navigation/3d/default_cell_size", PROPERTY_HINT_RANGE, NavigationDefaults3D::NAV_MESH_CELL_SIZE_HINT), NavigationDefaults3D::NAV_MESH_CELL_SIZE);
248
	GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "navigation/3d/default_cell_height", PROPERTY_HINT_RANGE, "0.001,100,0.001,or_greater"), NavigationDefaults3D::NAV_MESH_CELL_HEIGHT);
249
	GLOBAL_DEF("navigation/3d/default_up", Vector3(0, 1, 0));
250
	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "navigation/3d/merge_rasterizer_cell_scale", PROPERTY_HINT_RANGE, "0.001,1,0.001,or_greater"), 1.0);
251
	GLOBAL_DEF("navigation/3d/use_edge_connections", true);
252
	GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "navigation/3d/default_edge_connection_margin", PROPERTY_HINT_RANGE, "0.01,10,0.001,or_greater"), NavigationDefaults3D::EDGE_CONNECTION_MARGIN);
253
	GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "navigation/3d/default_link_connection_radius", PROPERTY_HINT_RANGE, "0.01,10,0.001,or_greater"), NavigationDefaults3D::LINK_CONNECTION_RADIUS);
254

255
#ifdef DEBUG_ENABLED
256
#ifndef DISABLE_DEPRECATED
257
#define MOVE_PROJECT_SETTING_1(m_old_setting, m_new_setting)                                                                             \
258
	if (!ProjectSettings::get_singleton()->has_setting(m_new_setting) && ProjectSettings::get_singleton()->has_setting(m_old_setting)) { \
259
		Variant value = GLOBAL_GET(m_old_setting);                                                                                       \
260
		ProjectSettings::get_singleton()->set_setting(m_new_setting, value);                                                             \
261
		ProjectSettings::get_singleton()->clear(m_old_setting);                                                                          \
262
	}
263
#define MOVE_PROJECT_SETTING_2(m_old_setting, m_new_setting_1, m_new_setting_2)                                                                 \
264
	if ((!ProjectSettings::get_singleton()->has_setting(m_new_setting_1) || !ProjectSettings::get_singleton()->has_setting(m_new_setting_2)) && \
265
			ProjectSettings::get_singleton()->has_setting(m_old_setting)) {                                                                     \
266
		Variant value = GLOBAL_GET(m_old_setting);                                                                                              \
267
		if (!ProjectSettings::get_singleton()->has_setting(m_new_setting_1)) {                                                                  \
268
			ProjectSettings::get_singleton()->set_setting(m_new_setting_1, value);                                                              \
269
		}                                                                                                                                       \
270
		if (!ProjectSettings::get_singleton()->has_setting(m_new_setting_2)) {                                                                  \
271
			ProjectSettings::get_singleton()->set_setting(m_new_setting_2, value);                                                              \
272
		}                                                                                                                                       \
273
		ProjectSettings::get_singleton()->clear(m_old_setting);                                                                                 \
274
	}
275
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/edge_connection_color", "debug/shapes/navigation/2d/edge_connection_color", "debug/shapes/navigation/3d/edge_connection_color");
276
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/geometry_edge_color", "debug/shapes/navigation/2d/geometry_edge_color", "debug/shapes/navigation/3d/geometry_edge_color");
277
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/geometry_face_color", "debug/shapes/navigation/2d/geometry_face_color", "debug/shapes/navigation/3d/geometry_face_color");
278
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/geometry_edge_disabled_color", "debug/shapes/navigation/2d/geometry_edge_disabled_color", "debug/shapes/navigation/3d/geometry_edge_disabled_color");
279
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/geometry_face_disabled_color", "debug/shapes/navigation/2d/geometry_face_disabled_color", "debug/shapes/navigation/3d/geometry_face_disabled_color");
280
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/link_connection_color", "debug/shapes/navigation/2d/link_connection_color", "debug/shapes/navigation/3d/link_connection_color");
281
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/link_connection_disabled_color", "debug/shapes/navigation/2d/link_connection_disabled_color", "debug/shapes/navigation/3d/link_connection_disabled_color");
282
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/agent_path_color", "debug/shapes/navigation/2d/agent_path_color", "debug/shapes/navigation/3d/agent_path_color");
283

284
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/enable_edge_connections", "debug/shapes/navigation/2d/enable_edge_connections", "debug/shapes/navigation/3d/enable_edge_connections");
285
	MOVE_PROJECT_SETTING_1("debug/shapes/navigation/enable_edge_connections_xray", "debug/shapes/navigation/3d/enable_edge_connections_xray");
286
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/enable_edge_lines", "debug/shapes/navigation/2d/enable_edge_lines", "debug/shapes/navigation/3d/enable_edge_lines");
287
	MOVE_PROJECT_SETTING_1("debug/shapes/navigation/enable_edge_lines_xray", "debug/shapes/navigation/3d/enable_edge_lines_xray");
288
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/enable_geometry_face_random_color", "debug/shapes/navigation/2d/enable_geometry_face_random_color", "debug/shapes/navigation/3d/enable_geometry_face_random_color");
289
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/enable_link_connections", "debug/shapes/navigation/2d/enable_link_connections", "debug/shapes/navigation/3d/enable_link_connections");
290
	MOVE_PROJECT_SETTING_1("debug/shapes/navigation/enable_link_connections_xray", "debug/shapes/navigation/3d/enable_link_connections_xray");
291

292
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/enable_agent_paths", "debug/shapes/navigation/2d/enable_agent_paths", "debug/shapes/navigation/3d/enable_agent_paths");
293
	MOVE_PROJECT_SETTING_1("debug/shapes/navigation/enable_agent_paths_xray", "debug/shapes/navigation/3d/enable_agent_paths_xray");
294
	MOVE_PROJECT_SETTING_2("debug/shapes/navigation/agent_path_point_size", "debug/shapes/navigation/2d/agent_path_point_size", "debug/shapes/navigation/3d/agent_path_point_size");
295

296
	MOVE_PROJECT_SETTING_2("debug/shapes/avoidance/agents_radius_color", "debug/shapes/avoidance/2d/agents_radius_color", "debug/shapes/avoidance/3d/agents_radius_color");
297
	MOVE_PROJECT_SETTING_2("debug/shapes/avoidance/obstacles_radius_color", "debug/shapes/avoidance/2d/obstacles_radius_color", "debug/shapes/avoidance/3d/obstacles_radius_color");
298
	MOVE_PROJECT_SETTING_2("debug/shapes/avoidance/obstacles_static_face_pushin_color", "debug/shapes/avoidance/2d/obstacles_static_face_pushin_color", "debug/shapes/avoidance/3d/obstacles_static_face_pushin_color");
299
	MOVE_PROJECT_SETTING_2("debug/shapes/avoidance/obstacles_static_edge_pushin_color", "debug/shapes/avoidance/2d/obstacles_static_edge_pushin_color", "debug/shapes/avoidance/3d/obstacles_static_edge_pushin_color");
300
	MOVE_PROJECT_SETTING_2("debug/shapes/avoidance/obstacles_static_face_pushout_color", "debug/shapes/avoidance/2d/obstacles_static_face_pushout_color", "debug/shapes/avoidance/3d/obstacles_static_face_pushout_color");
301
	MOVE_PROJECT_SETTING_2("debug/shapes/avoidance/obstacles_static_edge_pushout_color", "debug/shapes/avoidance/2d/obstacles_static_edge_pushout_color", "debug/shapes/avoidance/3d/obstacles_static_edge_pushout_color");
302
	MOVE_PROJECT_SETTING_2("debug/shapes/avoidance/enable_agents_radius", "debug/shapes/avoidance/2d/enable_agents_radius", "debug/shapes/avoidance/3d/enable_agents_radius");
303
	MOVE_PROJECT_SETTING_2("debug/shapes/avoidance/enable_obstacles_radius", "debug/shapes/avoidance/2d/enable_obstacles_radius", "debug/shapes/avoidance/2d/enable_obstacles_static");
304
	MOVE_PROJECT_SETTING_2("debug/shapes/avoidance/enable_obstacles_radius", "debug/shapes/avoidance/3d/enable_obstacles_radius", "debug/shapes/avoidance/3d/enable_obstacles_static");
305
#undef MOVE_PROJECT_SETTING_1
306
#undef MOVE_PROJECT_SETTING_2
307
#endif // DISABLE_DEPRECATED
308

309
	debug_navigation_edge_connection_color = GLOBAL_DEF("debug/shapes/navigation/3d/edge_connection_color", Color(1.0, 0.0, 1.0, 1.0));
310
	debug_navigation_geometry_edge_color = GLOBAL_DEF("debug/shapes/navigation/3d/geometry_edge_color", Color(0.5, 1.0, 1.0, 1.0));
311
	debug_navigation_geometry_face_color = GLOBAL_DEF("debug/shapes/navigation/3d/geometry_face_color", Color(0.5, 1.0, 1.0, 0.4));
312
	debug_navigation_geometry_edge_disabled_color = GLOBAL_DEF("debug/shapes/navigation/3d/geometry_edge_disabled_color", Color(0.5, 0.5, 0.5, 1.0));
313
	debug_navigation_geometry_face_disabled_color = GLOBAL_DEF("debug/shapes/navigation/3d/geometry_face_disabled_color", Color(0.5, 0.5, 0.5, 0.4));
314
	debug_navigation_link_connection_color = GLOBAL_DEF("debug/shapes/navigation/3d/link_connection_color", Color(1.0, 0.5, 1.0, 1.0));
315
	debug_navigation_link_connection_disabled_color = GLOBAL_DEF("debug/shapes/navigation/3d/link_connection_disabled_color", Color(0.5, 0.5, 0.5, 1.0));
316
	debug_navigation_agent_path_color = GLOBAL_DEF("debug/shapes/navigation/3d/agent_path_color", Color(1.0, 0.0, 0.0, 1.0));
317

318
	debug_navigation_enable_edge_connections = GLOBAL_DEF("debug/shapes/navigation/3d/enable_edge_connections", true);
319
	debug_navigation_enable_edge_connections_xray = GLOBAL_DEF("debug/shapes/navigation/3d/enable_edge_connections_xray", true);
320
	debug_navigation_enable_edge_lines = GLOBAL_DEF("debug/shapes/navigation/3d/enable_edge_lines", true);
321
	debug_navigation_enable_edge_lines_xray = GLOBAL_DEF("debug/shapes/navigation/3d/enable_edge_lines_xray", true);
322
	debug_navigation_enable_geometry_face_random_color = GLOBAL_DEF("debug/shapes/navigation/3d/enable_geometry_face_random_color", true);
323
	debug_navigation_enable_link_connections = GLOBAL_DEF("debug/shapes/navigation/3d/enable_link_connections", true);
324
	debug_navigation_enable_link_connections_xray = GLOBAL_DEF("debug/shapes/navigation/3d/enable_link_connections_xray", true);
325

326
	debug_navigation_enable_agent_paths = GLOBAL_DEF("debug/shapes/navigation/3d/enable_agent_paths", true);
327
	debug_navigation_enable_agent_paths_xray = GLOBAL_DEF("debug/shapes/navigation/3d/enable_agent_paths_xray", true);
328
	debug_navigation_agent_path_point_size = GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "debug/shapes/navigation/3d/agent_path_point_size", PROPERTY_HINT_RANGE, "0.01,10,0.001,or_greater"), 4.0);
329

330
	debug_navigation_avoidance_agents_radius_color = GLOBAL_DEF("debug/shapes/avoidance/3d/agents_radius_color", Color(1.0, 1.0, 0.0, 0.25));
331
	debug_navigation_avoidance_obstacles_radius_color = GLOBAL_DEF("debug/shapes/avoidance/3d/obstacles_radius_color", Color(1.0, 0.5, 0.0, 0.25));
332
	debug_navigation_avoidance_static_obstacle_pushin_face_color = GLOBAL_DEF("debug/shapes/avoidance/3d/obstacles_static_face_pushin_color", Color(1.0, 0.0, 0.0, 0.0));
333
	debug_navigation_avoidance_static_obstacle_pushin_edge_color = GLOBAL_DEF("debug/shapes/avoidance/3d/obstacles_static_edge_pushin_color", Color(1.0, 0.0, 0.0, 1.0));
334
	debug_navigation_avoidance_static_obstacle_pushout_face_color = GLOBAL_DEF("debug/shapes/avoidance/3d/obstacles_static_face_pushout_color", Color(1.0, 1.0, 0.0, 0.5));
335
	debug_navigation_avoidance_static_obstacle_pushout_edge_color = GLOBAL_DEF("debug/shapes/avoidance/3d/obstacles_static_edge_pushout_color", Color(1.0, 1.0, 0.0, 1.0));
336
	debug_navigation_avoidance_enable_agents_radius = GLOBAL_DEF("debug/shapes/avoidance/3d/enable_agents_radius", true);
337
	debug_navigation_avoidance_enable_obstacles_radius = GLOBAL_DEF("debug/shapes/avoidance/3d/enable_obstacles_radius", true);
338
	debug_navigation_avoidance_enable_obstacles_static = GLOBAL_DEF("debug/shapes/avoidance/3d/enable_obstacles_static", true);
339

340
	if (Engine::get_singleton()->is_editor_hint()) {
341
		// enable NavigationServer3D when in Editor or else navigation mesh edge connections are invisible
342
		// on runtime tests SceneTree has "Visible Navigation" set and main iteration takes care of this
343
		set_debug_enabled(true);
344
		set_debug_navigation_enabled(true);
345
		set_debug_avoidance_enabled(true);
346
	}
347
#endif // DEBUG_ENABLED
348
}
349

350
NavigationServer3D::~NavigationServer3D() {
351
	singleton = nullptr;
352

353
	RWLockWrite write_lock(geometry_parser_rwlock);
354
	for (NavMeshGeometryParser3D *parser : generator_parsers) {
355
		geometry_parser_owner.free(parser->self);
356
	}
357
	generator_parsers.clear();
358
}
359

360
RID NavigationServer3D::source_geometry_parser_create() {
361
	RWLockWrite write_lock(geometry_parser_rwlock);
362

363
	RID rid = geometry_parser_owner.make_rid();
364

365
	NavMeshGeometryParser3D *parser = geometry_parser_owner.get_or_null(rid);
366
	parser->self = rid;
367

368
	generator_parsers.push_back(parser);
369

370
	return rid;
371
}
372

373
void NavigationServer3D::free(RID p_object) {
374
	if (!geometry_parser_owner.owns(p_object)) {
375
		return;
376
	}
377
	RWLockWrite write_lock(geometry_parser_rwlock);
378

379
	NavMeshGeometryParser3D *parser = geometry_parser_owner.get_or_null(p_object);
380
	ERR_FAIL_NULL(parser);
381

382
	generator_parsers.erase(parser);
383
	geometry_parser_owner.free(parser->self);
384
}
385

386
void NavigationServer3D::source_geometry_parser_set_callback(RID p_parser, const Callable &p_callback) {
387
	RWLockWrite write_lock(geometry_parser_rwlock);
388

389
	NavMeshGeometryParser3D *parser = geometry_parser_owner.get_or_null(p_parser);
390
	ERR_FAIL_NULL(parser);
391

392
	parser->callback = p_callback;
393
}
394

395
void NavigationServer3D::set_debug_enabled(bool p_enabled) {
396
#ifdef DEBUG_ENABLED
397
	if (debug_enabled != p_enabled) {
398
		debug_dirty = true;
399
	}
400

401
	debug_enabled = p_enabled;
402

403
	if (debug_dirty) {
404
		navigation_debug_dirty = true;
405
		callable_mp(this, &NavigationServer3D::_emit_navigation_debug_changed_signal).call_deferred();
406

407
		avoidance_debug_dirty = true;
408
		callable_mp(this, &NavigationServer3D::_emit_avoidance_debug_changed_signal).call_deferred();
409
	}
410
#endif // DEBUG_ENABLED
411
}
412

413
bool NavigationServer3D::get_debug_enabled() const {
414
	return debug_enabled;
415
}
416

417
#ifdef DEBUG_ENABLED
418
void NavigationServer3D::_emit_navigation_debug_changed_signal() {
419
	if (navigation_debug_dirty) {
420
		navigation_debug_dirty = false;
421
		emit_signal(SNAME("navigation_debug_changed"));
422
	}
423
}
424

425
void NavigationServer3D::_emit_avoidance_debug_changed_signal() {
426
	if (avoidance_debug_dirty) {
427
		avoidance_debug_dirty = false;
428
		emit_signal(SNAME("avoidance_debug_changed"));
429
	}
430
}
431
#endif // DEBUG_ENABLED
432

433
#ifdef DEBUG_ENABLED
434
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_face_material() {
435
	if (debug_navigation_geometry_face_material.is_valid()) {
436
		return debug_navigation_geometry_face_material;
437
	}
438

439
	bool enabled_geometry_face_random_color = get_debug_navigation_enable_geometry_face_random_color();
440

441
	Ref<StandardMaterial3D> face_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
442
	face_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
443
	face_material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
444
	face_material->set_albedo(get_debug_navigation_geometry_face_color());
445
	face_material->set_cull_mode(StandardMaterial3D::CULL_DISABLED);
446
	face_material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
447
	if (enabled_geometry_face_random_color) {
448
		face_material->set_flag(StandardMaterial3D::FLAG_SRGB_VERTEX_COLOR, true);
449
		face_material->set_flag(StandardMaterial3D::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
450
	}
451

452
	debug_navigation_geometry_face_material = face_material;
453

454
	return debug_navigation_geometry_face_material;
455
}
456

457
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_edge_material() {
458
	if (debug_navigation_geometry_edge_material.is_valid()) {
459
		return debug_navigation_geometry_edge_material;
460
	}
461

462
	bool enabled_edge_lines_xray = get_debug_navigation_enable_edge_lines_xray();
463

464
	Ref<StandardMaterial3D> line_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
465
	line_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
466
	line_material->set_albedo(get_debug_navigation_geometry_edge_color());
467
	line_material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
468
	if (enabled_edge_lines_xray) {
469
		line_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
470
	}
471

472
	debug_navigation_geometry_edge_material = line_material;
473

474
	return debug_navigation_geometry_edge_material;
475
}
476

477
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_face_disabled_material() {
478
	if (debug_navigation_geometry_face_disabled_material.is_valid()) {
479
		return debug_navigation_geometry_face_disabled_material;
480
	}
481

482
	Ref<StandardMaterial3D> face_disabled_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
483
	face_disabled_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
484
	face_disabled_material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
485
	face_disabled_material->set_albedo(get_debug_navigation_geometry_face_disabled_color());
486
	face_disabled_material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
487

488
	debug_navigation_geometry_face_disabled_material = face_disabled_material;
489

490
	return debug_navigation_geometry_face_disabled_material;
491
}
492

493
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_edge_disabled_material() {
494
	if (debug_navigation_geometry_edge_disabled_material.is_valid()) {
495
		return debug_navigation_geometry_edge_disabled_material;
496
	}
497

498
	bool enabled_edge_lines_xray = get_debug_navigation_enable_edge_lines_xray();
499

500
	Ref<StandardMaterial3D> line_disabled_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
501
	line_disabled_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
502
	line_disabled_material->set_albedo(get_debug_navigation_geometry_edge_disabled_color());
503
	line_disabled_material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
504
	if (enabled_edge_lines_xray) {
505
		line_disabled_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
506
	}
507

508
	debug_navigation_geometry_edge_disabled_material = line_disabled_material;
509

510
	return debug_navigation_geometry_edge_disabled_material;
511
}
512

513
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_edge_connections_material() {
514
	if (debug_navigation_edge_connections_material.is_valid()) {
515
		return debug_navigation_edge_connections_material;
516
	}
517

518
	bool enabled_edge_connections_xray = get_debug_navigation_enable_edge_connections_xray();
519

520
	Ref<StandardMaterial3D> edge_connections_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
521
	edge_connections_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
522
	edge_connections_material->set_albedo(get_debug_navigation_edge_connection_color());
523
	edge_connections_material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
524
	if (enabled_edge_connections_xray) {
525
		edge_connections_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
526
	}
527
	edge_connections_material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2);
528

529
	debug_navigation_edge_connections_material = edge_connections_material;
530

531
	return debug_navigation_edge_connections_material;
532
}
533

534
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_link_connections_material() {
535
	if (debug_navigation_link_connections_material.is_valid()) {
536
		return debug_navigation_link_connections_material;
537
	}
538

539
	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
540
	material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
541
	material->set_albedo(debug_navigation_link_connection_color);
542
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
543
	if (debug_navigation_enable_link_connections_xray) {
544
		material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
545
	}
546
	material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2);
547

548
	debug_navigation_link_connections_material = material;
549
	return debug_navigation_link_connections_material;
550
}
551

552
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_link_connections_disabled_material() {
553
	if (debug_navigation_link_connections_disabled_material.is_valid()) {
554
		return debug_navigation_link_connections_disabled_material;
555
	}
556

557
	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
558
	material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
559
	material->set_albedo(debug_navigation_link_connection_disabled_color);
560
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
561
	if (debug_navigation_enable_link_connections_xray) {
562
		material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
563
	}
564
	material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2);
565

566
	debug_navigation_link_connections_disabled_material = material;
567
	return debug_navigation_link_connections_disabled_material;
568
}
569

570
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_agent_path_line_material() {
571
	if (debug_navigation_agent_path_line_material.is_valid()) {
572
		return debug_navigation_agent_path_line_material;
573
	}
574

575
	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
576
	material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
577

578
	material->set_albedo(debug_navigation_agent_path_color);
579
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
580
	if (debug_navigation_enable_agent_paths_xray) {
581
		material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
582
	}
583
	material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2);
584

585
	debug_navigation_agent_path_line_material = material;
586
	return debug_navigation_agent_path_line_material;
587
}
588

589
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_agent_path_point_material() {
590
	if (debug_navigation_agent_path_point_material.is_valid()) {
591
		return debug_navigation_agent_path_point_material;
592
	}
593

594
	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
595
	material->set_albedo(debug_navigation_agent_path_color);
596
	material->set_flag(StandardMaterial3D::FLAG_USE_POINT_SIZE, true);
597
	material->set_point_size(debug_navigation_agent_path_point_size);
598
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
599
	if (debug_navigation_enable_agent_paths_xray) {
600
		material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
601
	}
602
	material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2);
603

604
	debug_navigation_agent_path_point_material = material;
605
	return debug_navigation_agent_path_point_material;
606
}
607

608
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_avoidance_agents_radius_material() {
609
	if (debug_navigation_avoidance_agents_radius_material.is_valid()) {
610
		return debug_navigation_avoidance_agents_radius_material;
611
	}
612

613
	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
614
	material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
615
	material->set_cull_mode(StandardMaterial3D::CULL_DISABLED);
616
	material->set_albedo(debug_navigation_avoidance_agents_radius_color);
617
	material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MIN + 2);
618

619
	debug_navigation_avoidance_agents_radius_material = material;
620
	return debug_navigation_avoidance_agents_radius_material;
621
}
622

623
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_avoidance_obstacles_radius_material() {
624
	if (debug_navigation_avoidance_obstacles_radius_material.is_valid()) {
625
		return debug_navigation_avoidance_obstacles_radius_material;
626
	}
627

628
	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
629
	material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
630
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
631
	material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
632
	material->set_cull_mode(StandardMaterial3D::CULL_DISABLED);
633
	material->set_albedo(debug_navigation_avoidance_obstacles_radius_color);
634
	material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MIN + 2);
635

636
	debug_navigation_avoidance_obstacles_radius_material = material;
637
	return debug_navigation_avoidance_obstacles_radius_material;
638
}
639

640
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_avoidance_static_obstacle_pushin_face_material() {
641
	if (debug_navigation_avoidance_static_obstacle_pushin_face_material.is_valid()) {
642
		return debug_navigation_avoidance_static_obstacle_pushin_face_material;
643
	}
644

645
	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
646
	material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
647
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
648
	material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
649
	material->set_cull_mode(StandardMaterial3D::CULL_DISABLED);
650
	material->set_albedo(debug_navigation_avoidance_static_obstacle_pushin_face_color);
651
	material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MIN + 2);
652

653
	debug_navigation_avoidance_static_obstacle_pushin_face_material = material;
654
	return debug_navigation_avoidance_static_obstacle_pushin_face_material;
655
}
656

657
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_avoidance_static_obstacle_pushout_face_material() {
658
	if (debug_navigation_avoidance_static_obstacle_pushout_face_material.is_valid()) {
659
		return debug_navigation_avoidance_static_obstacle_pushout_face_material;
660
	}
661

662
	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
663
	material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
664
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
665
	material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
666
	material->set_cull_mode(StandardMaterial3D::CULL_DISABLED);
667
	material->set_albedo(debug_navigation_avoidance_static_obstacle_pushout_face_color);
668
	material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MIN + 2);
669

670
	debug_navigation_avoidance_static_obstacle_pushout_face_material = material;
671
	return debug_navigation_avoidance_static_obstacle_pushout_face_material;
672
}
673

674
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_avoidance_static_obstacle_pushin_edge_material() {
675
	if (debug_navigation_avoidance_static_obstacle_pushin_edge_material.is_valid()) {
676
		return debug_navigation_avoidance_static_obstacle_pushin_edge_material;
677
	}
678

679
	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
680
	material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
681
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
682
	//material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
683
	//material->set_cull_mode(StandardMaterial3D::CULL_DISABLED);
684
	material->set_albedo(debug_navigation_avoidance_static_obstacle_pushin_edge_color);
685
	//material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MIN + 2);
686
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
687

688
	debug_navigation_avoidance_static_obstacle_pushin_edge_material = material;
689
	return debug_navigation_avoidance_static_obstacle_pushin_edge_material;
690
}
691

692
Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_avoidance_static_obstacle_pushout_edge_material() {
693
	if (debug_navigation_avoidance_static_obstacle_pushout_edge_material.is_valid()) {
694
		return debug_navigation_avoidance_static_obstacle_pushout_edge_material;
695
	}
696

697
	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
698
	material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
699
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
700
	///material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
701
	//material->set_cull_mode(StandardMaterial3D::CULL_DISABLED);
702
	material->set_albedo(debug_navigation_avoidance_static_obstacle_pushout_edge_color);
703
	//material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MIN + 2);
704
	material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
705

706
	debug_navigation_avoidance_static_obstacle_pushout_edge_material = material;
707
	return debug_navigation_avoidance_static_obstacle_pushout_edge_material;
708
}
709

710
void NavigationServer3D::set_debug_navigation_edge_connection_color(const Color &p_color) {
711
	debug_navigation_edge_connection_color = p_color;
712
	if (debug_navigation_edge_connections_material.is_valid()) {
713
		debug_navigation_edge_connections_material->set_albedo(debug_navigation_edge_connection_color);
714
	}
715
}
716

717
Color NavigationServer3D::get_debug_navigation_edge_connection_color() const {
718
	return debug_navigation_edge_connection_color;
719
}
720

721
void NavigationServer3D::set_debug_navigation_geometry_edge_color(const Color &p_color) {
722
	debug_navigation_geometry_edge_color = p_color;
723
	if (debug_navigation_geometry_edge_material.is_valid()) {
724
		debug_navigation_geometry_edge_material->set_albedo(debug_navigation_geometry_edge_color);
725
	}
726
}
727

728
Color NavigationServer3D::get_debug_navigation_geometry_edge_color() const {
729
	return debug_navigation_geometry_edge_color;
730
}
731

732
void NavigationServer3D::set_debug_navigation_geometry_face_color(const Color &p_color) {
733
	debug_navigation_geometry_face_color = p_color;
734
	if (debug_navigation_geometry_face_material.is_valid()) {
735
		debug_navigation_geometry_face_material->set_albedo(debug_navigation_geometry_face_color);
736
	}
737
}
738

739
Color NavigationServer3D::get_debug_navigation_geometry_face_color() const {
740
	return debug_navigation_geometry_face_color;
741
}
742

743
void NavigationServer3D::set_debug_navigation_geometry_edge_disabled_color(const Color &p_color) {
744
	debug_navigation_geometry_edge_disabled_color = p_color;
745
	if (debug_navigation_geometry_edge_disabled_material.is_valid()) {
746
		debug_navigation_geometry_edge_disabled_material->set_albedo(debug_navigation_geometry_edge_disabled_color);
747
	}
748
}
749

750
Color NavigationServer3D::get_debug_navigation_geometry_edge_disabled_color() const {
751
	return debug_navigation_geometry_edge_disabled_color;
752
}
753

754
void NavigationServer3D::set_debug_navigation_geometry_face_disabled_color(const Color &p_color) {
755
	debug_navigation_geometry_face_disabled_color = p_color;
756
	if (debug_navigation_geometry_face_disabled_material.is_valid()) {
757
		debug_navigation_geometry_face_disabled_material->set_albedo(debug_navigation_geometry_face_disabled_color);
758
	}
759
}
760

761
Color NavigationServer3D::get_debug_navigation_geometry_face_disabled_color() const {
762
	return debug_navigation_geometry_face_disabled_color;
763
}
764

765
void NavigationServer3D::set_debug_navigation_link_connection_color(const Color &p_color) {
766
	debug_navigation_link_connection_color = p_color;
767
	if (debug_navigation_link_connections_material.is_valid()) {
768
		debug_navigation_link_connections_material->set_albedo(debug_navigation_link_connection_color);
769
	}
770
}
771

772
Color NavigationServer3D::get_debug_navigation_link_connection_color() const {
773
	return debug_navigation_link_connection_color;
774
}
775

776
void NavigationServer3D::set_debug_navigation_link_connection_disabled_color(const Color &p_color) {
777
	debug_navigation_link_connection_disabled_color = p_color;
778
	if (debug_navigation_link_connections_disabled_material.is_valid()) {
779
		debug_navigation_link_connections_disabled_material->set_albedo(debug_navigation_link_connection_disabled_color);
780
	}
781
}
782

783
Color NavigationServer3D::get_debug_navigation_link_connection_disabled_color() const {
784
	return debug_navigation_link_connection_disabled_color;
785
}
786

787
void NavigationServer3D::set_debug_navigation_agent_path_point_size(real_t p_point_size) {
788
	debug_navigation_agent_path_point_size = MAX(0.1, p_point_size);
789
	if (debug_navigation_agent_path_point_material.is_valid()) {
790
		debug_navigation_agent_path_point_material->set_point_size(debug_navigation_agent_path_point_size);
791
	}
792
}
793

794
real_t NavigationServer3D::get_debug_navigation_agent_path_point_size() const {
795
	return debug_navigation_agent_path_point_size;
796
}
797

798
void NavigationServer3D::set_debug_navigation_agent_path_color(const Color &p_color) {
799
	debug_navigation_agent_path_color = p_color;
800
	if (debug_navigation_agent_path_line_material.is_valid()) {
801
		debug_navigation_agent_path_line_material->set_albedo(debug_navigation_agent_path_color);
802
	}
803
	if (debug_navigation_agent_path_point_material.is_valid()) {
804
		debug_navigation_agent_path_point_material->set_albedo(debug_navigation_agent_path_color);
805
	}
806
}
807

808
Color NavigationServer3D::get_debug_navigation_agent_path_color() const {
809
	return debug_navigation_agent_path_color;
810
}
811

812
void NavigationServer3D::set_debug_navigation_enable_edge_connections(const bool p_value) {
813
	debug_navigation_enable_edge_connections = p_value;
814
	navigation_debug_dirty = true;
815
	callable_mp(this, &NavigationServer3D::_emit_navigation_debug_changed_signal).call_deferred();
816
}
817

818
bool NavigationServer3D::get_debug_navigation_enable_edge_connections() const {
819
	return debug_navigation_enable_edge_connections;
820
}
821

822
void NavigationServer3D::set_debug_navigation_enable_edge_connections_xray(const bool p_value) {
823
	debug_navigation_enable_edge_connections_xray = p_value;
824
	if (debug_navigation_edge_connections_material.is_valid()) {
825
		debug_navigation_edge_connections_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_edge_connections_xray);
826
	}
827
}
828

829
bool NavigationServer3D::get_debug_navigation_enable_edge_connections_xray() const {
830
	return debug_navigation_enable_edge_connections_xray;
831
}
832

833
void NavigationServer3D::set_debug_navigation_enable_edge_lines(const bool p_value) {
834
	debug_navigation_enable_edge_lines = p_value;
835
	navigation_debug_dirty = true;
836
	callable_mp(this, &NavigationServer3D::_emit_navigation_debug_changed_signal).call_deferred();
837
}
838

839
bool NavigationServer3D::get_debug_navigation_enable_edge_lines() const {
840
	return debug_navigation_enable_edge_lines;
841
}
842

843
void NavigationServer3D::set_debug_navigation_enable_edge_lines_xray(const bool p_value) {
844
	debug_navigation_enable_edge_lines_xray = p_value;
845
	if (debug_navigation_geometry_edge_material.is_valid()) {
846
		debug_navigation_geometry_edge_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_edge_lines_xray);
847
	}
848
}
849

850
bool NavigationServer3D::get_debug_navigation_enable_edge_lines_xray() const {
851
	return debug_navigation_enable_edge_lines_xray;
852
}
853

854
void NavigationServer3D::set_debug_navigation_enable_geometry_face_random_color(const bool p_value) {
855
	debug_navigation_enable_geometry_face_random_color = p_value;
856
	navigation_debug_dirty = true;
857
	callable_mp(this, &NavigationServer3D::_emit_navigation_debug_changed_signal).call_deferred();
858
}
859

860
bool NavigationServer3D::get_debug_navigation_enable_geometry_face_random_color() const {
861
	return debug_navigation_enable_geometry_face_random_color;
862
}
863

864
void NavigationServer3D::set_debug_navigation_enable_link_connections(const bool p_value) {
865
	debug_navigation_enable_link_connections = p_value;
866
	navigation_debug_dirty = true;
867
	callable_mp(this, &NavigationServer3D::_emit_navigation_debug_changed_signal).call_deferred();
868
}
869

870
bool NavigationServer3D::get_debug_navigation_enable_link_connections() const {
871
	return debug_navigation_enable_link_connections;
872
}
873

874
void NavigationServer3D::set_debug_navigation_enable_link_connections_xray(const bool p_value) {
875
	debug_navigation_enable_link_connections_xray = p_value;
876
	if (debug_navigation_link_connections_material.is_valid()) {
877
		debug_navigation_link_connections_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_link_connections_xray);
878
	}
879
}
880

881
bool NavigationServer3D::get_debug_navigation_enable_link_connections_xray() const {
882
	return debug_navigation_enable_link_connections_xray;
883
}
884

885
void NavigationServer3D::set_debug_navigation_avoidance_enable_agents_radius(const bool p_value) {
886
	debug_navigation_avoidance_enable_agents_radius = p_value;
887
	avoidance_debug_dirty = true;
888
	callable_mp(this, &NavigationServer3D::_emit_avoidance_debug_changed_signal).call_deferred();
889
}
890

891
bool NavigationServer3D::get_debug_navigation_avoidance_enable_agents_radius() const {
892
	return debug_navigation_avoidance_enable_agents_radius;
893
}
894

895
void NavigationServer3D::set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value) {
896
	debug_navigation_avoidance_enable_obstacles_radius = p_value;
897
	avoidance_debug_dirty = true;
898
	callable_mp(this, &NavigationServer3D::_emit_avoidance_debug_changed_signal).call_deferred();
899
}
900

901
bool NavigationServer3D::get_debug_navigation_avoidance_enable_obstacles_radius() const {
902
	return debug_navigation_avoidance_enable_obstacles_radius;
903
}
904

905
void NavigationServer3D::set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value) {
906
	debug_navigation_avoidance_enable_obstacles_static = p_value;
907
	avoidance_debug_dirty = true;
908
	callable_mp(this, &NavigationServer3D::_emit_avoidance_debug_changed_signal).call_deferred();
909
}
910

911
bool NavigationServer3D::get_debug_navigation_avoidance_enable_obstacles_static() const {
912
	return debug_navigation_avoidance_enable_obstacles_static;
913
}
914

915
void NavigationServer3D::set_debug_navigation_avoidance_agents_radius_color(const Color &p_color) {
916
	debug_navigation_avoidance_agents_radius_color = p_color;
917
	if (debug_navigation_avoidance_agents_radius_material.is_valid()) {
918
		debug_navigation_avoidance_agents_radius_material->set_albedo(debug_navigation_avoidance_agents_radius_color);
919
	}
920
}
921

922
Color NavigationServer3D::get_debug_navigation_avoidance_agents_radius_color() const {
923
	return debug_navigation_avoidance_agents_radius_color;
924
}
925

926
void NavigationServer3D::set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color) {
927
	debug_navigation_avoidance_obstacles_radius_color = p_color;
928
	if (debug_navigation_avoidance_obstacles_radius_material.is_valid()) {
929
		debug_navigation_avoidance_obstacles_radius_material->set_albedo(debug_navigation_avoidance_obstacles_radius_color);
930
	}
931
}
932

933
Color NavigationServer3D::get_debug_navigation_avoidance_obstacles_radius_color() const {
934
	return debug_navigation_avoidance_obstacles_radius_color;
935
}
936

937
void NavigationServer3D::set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color) {
938
	debug_navigation_avoidance_static_obstacle_pushin_face_color = p_color;
939
	if (debug_navigation_avoidance_static_obstacle_pushin_face_material.is_valid()) {
940
		debug_navigation_avoidance_static_obstacle_pushin_face_material->set_albedo(debug_navigation_avoidance_static_obstacle_pushin_face_color);
941
	}
942
}
943

944
Color NavigationServer3D::get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const {
945
	return debug_navigation_avoidance_static_obstacle_pushin_face_color;
946
}
947

948
void NavigationServer3D::set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color) {
949
	debug_navigation_avoidance_static_obstacle_pushout_face_color = p_color;
950
	if (debug_navigation_avoidance_static_obstacle_pushout_face_material.is_valid()) {
951
		debug_navigation_avoidance_static_obstacle_pushout_face_material->set_albedo(debug_navigation_avoidance_static_obstacle_pushout_face_color);
952
	}
953
}
954

955
Color NavigationServer3D::get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const {
956
	return debug_navigation_avoidance_static_obstacle_pushout_face_color;
957
}
958

959
void NavigationServer3D::set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color) {
960
	debug_navigation_avoidance_static_obstacle_pushin_edge_color = p_color;
961
	if (debug_navigation_avoidance_static_obstacle_pushin_edge_material.is_valid()) {
962
		debug_navigation_avoidance_static_obstacle_pushin_edge_material->set_albedo(debug_navigation_avoidance_static_obstacle_pushin_edge_color);
963
	}
964
}
965

966
Color NavigationServer3D::get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const {
967
	return debug_navigation_avoidance_static_obstacle_pushin_edge_color;
968
}
969

970
void NavigationServer3D::set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color) {
971
	debug_navigation_avoidance_static_obstacle_pushout_edge_color = p_color;
972
	if (debug_navigation_avoidance_static_obstacle_pushout_edge_material.is_valid()) {
973
		debug_navigation_avoidance_static_obstacle_pushout_edge_material->set_albedo(debug_navigation_avoidance_static_obstacle_pushout_edge_color);
974
	}
975
}
976

977
Color NavigationServer3D::get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const {
978
	return debug_navigation_avoidance_static_obstacle_pushout_edge_color;
979
}
980

981
void NavigationServer3D::set_debug_navigation_enable_agent_paths(const bool p_value) {
982
	if (debug_navigation_enable_agent_paths != p_value) {
983
		debug_dirty = true;
984
	}
985

986
	debug_navigation_enable_agent_paths = p_value;
987

988
	if (debug_dirty) {
989
		callable_mp(this, &NavigationServer3D::_emit_navigation_debug_changed_signal).call_deferred();
990
	}
991
}
992

993
bool NavigationServer3D::get_debug_navigation_enable_agent_paths() const {
994
	return debug_navigation_enable_agent_paths;
995
}
996

997
void NavigationServer3D::set_debug_navigation_enable_agent_paths_xray(const bool p_value) {
998
	debug_navigation_enable_agent_paths_xray = p_value;
999
	if (debug_navigation_agent_path_line_material.is_valid()) {
1000
		debug_navigation_agent_path_line_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_agent_paths_xray);
1001
	}
1002
	if (debug_navigation_agent_path_point_material.is_valid()) {
1003
		debug_navigation_agent_path_point_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_agent_paths_xray);
1004
	}
1005
}
1006

1007
bool NavigationServer3D::get_debug_navigation_enable_agent_paths_xray() const {
1008
	return debug_navigation_enable_agent_paths_xray;
1009
}
1010

1011
void NavigationServer3D::set_debug_navigation_enabled(bool p_enabled) {
1012
	debug_navigation_enabled = p_enabled;
1013
	navigation_debug_dirty = true;
1014
	callable_mp(this, &NavigationServer3D::_emit_navigation_debug_changed_signal).call_deferred();
1015
}
1016

1017
bool NavigationServer3D::get_debug_navigation_enabled() const {
1018
	return debug_navigation_enabled;
1019
}
1020

1021
void NavigationServer3D::set_debug_avoidance_enabled(bool p_enabled) {
1022
	debug_avoidance_enabled = p_enabled;
1023
	avoidance_debug_dirty = true;
1024
	callable_mp(this, &NavigationServer3D::_emit_avoidance_debug_changed_signal).call_deferred();
1025
}
1026

1027
bool NavigationServer3D::get_debug_avoidance_enabled() const {
1028
	return debug_avoidance_enabled;
1029
}
1030

1031
#endif // DEBUG_ENABLED
1032

1033
///////////////////////////////////////////////////////
1034

1035
static NavigationServer3D *navigation_server_3d = nullptr;
1036

1037
NavigationServer3DCallback NavigationServer3DManager::create_callback = nullptr;
1038

1039
void NavigationServer3DManager::set_default_server(NavigationServer3DCallback p_callback) {
1040
	create_callback = p_callback;
1041
}
1042

1043
NavigationServer3D *NavigationServer3DManager::new_default_server() {
1044
	if (create_callback == nullptr) {
1045
		return nullptr;
1046
	}
1047

1048
	return create_callback();
1049
}
1050

1051
void NavigationServer3DManager::initialize_server() {
1052
	ERR_FAIL_COND(navigation_server_3d != nullptr);
1053

1054
	// Init 3D Navigation Server
1055
	navigation_server_3d = NavigationServer3DManager::new_default_server();
1056

1057
	// Fall back to dummy if no default server has been registered.
1058
	if (!navigation_server_3d) {
1059
		WARN_VERBOSE("Failed to initialize NavigationServer3D. Fall back to dummy server.");
1060
		navigation_server_3d = memnew(NavigationServer3DDummy);
1061
	}
1062

1063
	// Should be impossible, but make sure it's not null.
1064
	ERR_FAIL_NULL_MSG(navigation_server_3d, "Failed to initialize NavigationServer3D.");
1065
	navigation_server_3d->init();
1066
}
1067

1068
void NavigationServer3DManager::finalize_server() {
1069
	ERR_FAIL_NULL(navigation_server_3d);
1070
	navigation_server_3d->finish();
1071
	memdelete(navigation_server_3d);
1072
	navigation_server_3d = nullptr;
1073
}
1074

1075
Product

Resources

Company
