CoCalc -- navigation_server

GitHub Repository: godotengine/godot
Path: blob/master/servers/navigation_2d/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_2d/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_rid);
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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() {
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	return singleton;
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}
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NavigationServer2D::NavigationServer2D() {
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	ERR_FAIL_COND(singleton != nullptr);
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	singleton = this;
223

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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
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	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));
239

240
	debug_navigation_enable_edge_connections = GLOBAL_DEF("debug/shapes/navigation/2d/enable_edge_connections", true);
241
	debug_navigation_enable_edge_lines = GLOBAL_DEF("debug/shapes/navigation/2d/enable_edge_lines", true);
242
	debug_navigation_enable_geometry_face_random_color = GLOBAL_DEF("debug/shapes/navigation/2d/enable_geometry_face_random_color", true);
243
	debug_navigation_enable_link_connections = GLOBAL_DEF("debug/shapes/navigation/2d/enable_link_connections", true);
244

245
	debug_navigation_enable_agent_paths = GLOBAL_DEF("debug/shapes/navigation/2d/enable_agent_paths", true);
246
	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);
247

248
	debug_navigation_avoidance_agents_radius_color = GLOBAL_DEF("debug/shapes/avoidance/2d/agents_radius_color", Color(1.0, 1.0, 0.0, 0.25));
249
	debug_navigation_avoidance_obstacles_radius_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_radius_color", Color(1.0, 0.5, 0.0, 0.25));
250
	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));
251
	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));
252
	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));
253
	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));
254
	debug_navigation_avoidance_enable_agents_radius = GLOBAL_DEF("debug/shapes/avoidance/2d/enable_agents_radius", true);
255
	debug_navigation_avoidance_enable_obstacles_radius = GLOBAL_DEF("debug/shapes/avoidance/2d/enable_obstacles_radius", true);
256
	debug_navigation_avoidance_enable_obstacles_static = GLOBAL_DEF("debug/shapes/avoidance/2d/enable_obstacles_static", true);
257

258
	if (Engine::get_singleton()->is_editor_hint()) {
259
		// enable NavigationServer3D when in Editor or else navigation mesh edge connections are invisible
260
		// on runtime tests SceneTree has "Visible Navigation" set and main iteration takes care of this.
261
		set_debug_enabled(true);
262
		set_debug_navigation_enabled(true);
263
		set_debug_avoidance_enabled(true);
264
	}
265
#endif // DEBUG_ENABLED
266
}
267

268
NavigationServer2D::~NavigationServer2D() {
269
	singleton = nullptr;
270

271
	RWLockWrite write_lock(geometry_parser_rwlock);
272
	for (NavMeshGeometryParser2D *parser : generator_parsers) {
273
		geometry_parser_owner.free(parser->self);
274
	}
275
	generator_parsers.clear();
276
}
277

278
RID NavigationServer2D::source_geometry_parser_create() {
279
	RWLockWrite write_lock(geometry_parser_rwlock);
280

281
	RID rid = geometry_parser_owner.make_rid();
282

283
	NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(rid);
284
	parser->self = rid;
285

286
	generator_parsers.push_back(parser);
287

288
	return rid;
289
}
290

291
void NavigationServer2D::free_rid(RID p_rid) {
292
	if (!geometry_parser_owner.owns(p_rid)) {
293
		return;
294
	}
295
	RWLockWrite write_lock(geometry_parser_rwlock);
296

297
	NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(p_rid);
298
	ERR_FAIL_NULL(parser);
299

300
	generator_parsers.erase(parser);
301
	geometry_parser_owner.free(parser->self);
302
}
303

304
void NavigationServer2D::source_geometry_parser_set_callback(RID p_parser, const Callable &p_callback) {
305
	RWLockWrite write_lock(geometry_parser_rwlock);
306

307
	NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(p_parser);
308
	ERR_FAIL_NULL(parser);
309

310
	parser->callback = p_callback;
311
}
312

313
void NavigationServer2D::set_debug_enabled(bool p_enabled) {
314
#ifdef DEBUG_ENABLED
315
	if (debug_enabled != p_enabled) {
316
		debug_dirty = true;
317
	}
318

319
	debug_enabled = p_enabled;
320

321
	if (debug_dirty) {
322
		navigation_debug_dirty = true;
323
		callable_mp(this, &NavigationServer2D::_emit_navigation_debug_changed_signal).call_deferred();
324

325
		avoidance_debug_dirty = true;
326
		callable_mp(this, &NavigationServer2D::_emit_avoidance_debug_changed_signal).call_deferred();
327
	}
328
#endif // DEBUG_ENABLED
329
}
330

331
bool NavigationServer2D::get_debug_enabled() const {
332
	return debug_enabled;
333
}
334

335
#ifdef DEBUG_ENABLED
336
void NavigationServer2D::_emit_navigation_debug_changed_signal() {
337
	if (navigation_debug_dirty) {
338
		navigation_debug_dirty = false;
339
		emit_signal(SNAME("navigation_debug_changed"));
340
	}
341
}
342

343
void NavigationServer2D::_emit_avoidance_debug_changed_signal() {
344
	if (avoidance_debug_dirty) {
345
		avoidance_debug_dirty = false;
346
		emit_signal(SNAME("avoidance_debug_changed"));
347
	}
348
}
349
#endif // DEBUG_ENABLED
350

351
#ifdef DEBUG_ENABLED
352
void NavigationServer2D::set_debug_navigation_enabled(bool p_enabled) {
353
	debug_navigation_enabled = p_enabled;
354
	navigation_debug_dirty = true;
355
	callable_mp(this, &NavigationServer2D::_emit_navigation_debug_changed_signal).call_deferred();
356
}
357

358
bool NavigationServer2D::get_debug_navigation_enabled() const {
359
	return debug_navigation_enabled;
360
}
361

362
void NavigationServer2D::set_debug_avoidance_enabled(bool p_enabled) {
363
	debug_avoidance_enabled = p_enabled;
364
	avoidance_debug_dirty = true;
365
	callable_mp(this, &NavigationServer2D::_emit_avoidance_debug_changed_signal).call_deferred();
366
}
367

368
bool NavigationServer2D::get_debug_avoidance_enabled() const {
369
	return debug_avoidance_enabled;
370
}
371

372
void NavigationServer2D::set_debug_navigation_edge_connection_color(const Color &p_color) {
373
	debug_navigation_edge_connection_color = p_color;
374
}
375

376
Color NavigationServer2D::get_debug_navigation_edge_connection_color() const {
377
	return debug_navigation_edge_connection_color;
378
}
379

380
void NavigationServer2D::set_debug_navigation_geometry_face_color(const Color &p_color) {
381
	debug_navigation_geometry_face_color = p_color;
382
}
383

384
Color NavigationServer2D::get_debug_navigation_geometry_face_color() const {
385
	return debug_navigation_geometry_face_color;
386
}
387

388
void NavigationServer2D::set_debug_navigation_geometry_face_disabled_color(const Color &p_color) {
389
	debug_navigation_geometry_face_disabled_color = p_color;
390
}
391

392
Color NavigationServer2D::get_debug_navigation_geometry_face_disabled_color() const {
393
	return debug_navigation_geometry_face_disabled_color;
394
}
395

396
void NavigationServer2D::set_debug_navigation_link_connection_color(const Color &p_color) {
397
	debug_navigation_link_connection_color = p_color;
398
}
399

400
Color NavigationServer2D::get_debug_navigation_link_connection_color() const {
401
	return debug_navigation_link_connection_color;
402
}
403

404
void NavigationServer2D::set_debug_navigation_link_connection_disabled_color(const Color &p_color) {
405
	debug_navigation_link_connection_disabled_color = p_color;
406
}
407

408
Color NavigationServer2D::get_debug_navigation_link_connection_disabled_color() const {
409
	return debug_navigation_link_connection_disabled_color;
410
}
411

412
void NavigationServer2D::set_debug_navigation_geometry_edge_color(const Color &p_color) {
413
	debug_navigation_geometry_edge_color = p_color;
414
}
415

416
Color NavigationServer2D::get_debug_navigation_geometry_edge_color() const {
417
	return debug_navigation_geometry_edge_color;
418
}
419

420
void NavigationServer2D::set_debug_navigation_geometry_edge_disabled_color(const Color &p_color) {
421
	debug_navigation_geometry_edge_disabled_color = p_color;
422
}
423

424
Color NavigationServer2D::get_debug_navigation_geometry_edge_disabled_color() const {
425
	return debug_navigation_geometry_edge_disabled_color;
426
}
427

428
void NavigationServer2D::set_debug_navigation_enable_edge_connections(const bool p_value) {
429
	debug_navigation_enable_edge_connections = p_value;
430
}
431

432
bool NavigationServer2D::get_debug_navigation_enable_edge_connections() const {
433
	return debug_navigation_enable_edge_connections;
434
}
435

436
void NavigationServer2D::set_debug_navigation_enable_geometry_face_random_color(const bool p_value) {
437
	debug_navigation_enable_geometry_face_random_color = p_value;
438
}
439

440
bool NavigationServer2D::get_debug_navigation_enable_geometry_face_random_color() const {
441
	return debug_navigation_enable_geometry_face_random_color;
442
}
443

444
void NavigationServer2D::set_debug_navigation_enable_edge_lines(const bool p_value) {
445
	debug_navigation_enable_edge_lines = p_value;
446
}
447

448
bool NavigationServer2D::get_debug_navigation_enable_edge_lines() const {
449
	return debug_navigation_enable_edge_lines;
450
}
451

452
void NavigationServer2D::set_debug_navigation_agent_path_color(const Color &p_color) {
453
	debug_navigation_agent_path_color = p_color;
454
}
455

456
Color NavigationServer2D::get_debug_navigation_agent_path_color() const {
457
	return debug_navigation_agent_path_color;
458
}
459

460
void NavigationServer2D::set_debug_navigation_enable_agent_paths(const bool p_value) {
461
	debug_navigation_enable_agent_paths = p_value;
462
}
463

464
bool NavigationServer2D::get_debug_navigation_enable_agent_paths() const {
465
	return debug_navigation_enable_agent_paths;
466
}
467

468
void NavigationServer2D::set_debug_navigation_agent_path_point_size(real_t p_point_size) {
469
	debug_navigation_agent_path_point_size = p_point_size;
470
}
471

472
real_t NavigationServer2D::get_debug_navigation_agent_path_point_size() const {
473
	return debug_navigation_agent_path_point_size;
474
}
475

476
void NavigationServer2D::set_debug_navigation_avoidance_enable_agents_radius(const bool p_value) {
477
	debug_navigation_avoidance_enable_agents_radius = p_value;
478
}
479

480
bool NavigationServer2D::get_debug_navigation_avoidance_enable_agents_radius() const {
481
	return debug_navigation_avoidance_enable_agents_radius;
482
}
483

484
void NavigationServer2D::set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value) {
485
	debug_navigation_avoidance_enable_obstacles_radius = p_value;
486
}
487

488
bool NavigationServer2D::get_debug_navigation_avoidance_enable_obstacles_radius() const {
489
	return debug_navigation_avoidance_enable_obstacles_radius;
490
}
491

492
void NavigationServer2D::set_debug_navigation_avoidance_agents_radius_color(const Color &p_color) {
493
	debug_navigation_avoidance_agents_radius_color = p_color;
494
}
495

496
Color NavigationServer2D::get_debug_navigation_avoidance_agents_radius_color() const {
497
	return debug_navigation_avoidance_agents_radius_color;
498
}
499

500
void NavigationServer2D::set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color) {
501
	debug_navigation_avoidance_obstacles_radius_color = p_color;
502
}
503

504
Color NavigationServer2D::get_debug_navigation_avoidance_obstacles_radius_color() const {
505
	return debug_navigation_avoidance_obstacles_radius_color;
506
}
507

508
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color) {
509
	debug_navigation_avoidance_static_obstacle_pushin_face_color = p_color;
510
}
511

512
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const {
513
	return debug_navigation_avoidance_static_obstacle_pushin_face_color;
514
}
515

516
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color) {
517
	debug_navigation_avoidance_static_obstacle_pushout_face_color = p_color;
518
}
519

520
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const {
521
	return debug_navigation_avoidance_static_obstacle_pushout_face_color;
522
}
523

524
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color) {
525
	debug_navigation_avoidance_static_obstacle_pushin_edge_color = p_color;
526
}
527

528
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const {
529
	return debug_navigation_avoidance_static_obstacle_pushin_edge_color;
530
}
531

532
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color) {
533
	debug_navigation_avoidance_static_obstacle_pushout_edge_color = p_color;
534
}
535

536
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const {
537
	return debug_navigation_avoidance_static_obstacle_pushout_edge_color;
538
}
539

540
void NavigationServer2D::set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value) {
541
	debug_navigation_avoidance_enable_obstacles_static = p_value;
542
}
543

544
bool NavigationServer2D::get_debug_navigation_avoidance_enable_obstacles_static() const {
545
	return debug_navigation_avoidance_enable_obstacles_static;
546
}
547
#endif // DEBUG_ENABLED
548

549
///////////////////////////////////////////////////////
550

551
static NavigationServer2D *navigation_server_2d = nullptr;
552

553
NavigationServer2DCallback NavigationServer2DManager::create_callback = nullptr;
554

555
void NavigationServer2DManager::set_default_server(NavigationServer2DCallback p_callback) {
556
	create_callback = p_callback;
557
}
558

559
NavigationServer2D *NavigationServer2DManager::new_default_server() {
560
	if (create_callback == nullptr) {
561
		return nullptr;
562
	}
563

564
	return create_callback();
565
}
566

567
void NavigationServer2DManager::initialize_server() {
568
	ERR_FAIL_COND(navigation_server_2d != nullptr);
569

570
	// Init 2D Navigation Server
571
	navigation_server_2d = NavigationServer2DManager::new_default_server();
572
	if (!navigation_server_2d) {
573
		WARN_VERBOSE("Failed to initialize NavigationServer2D. Fall back to dummy server.");
574
		navigation_server_2d = memnew(NavigationServer2DDummy);
575
	}
576

577
	ERR_FAIL_NULL_MSG(navigation_server_2d, "Failed to initialize NavigationServer2D.");
578
	navigation_server_2d->init();
579
}
580

581
void NavigationServer2DManager::finalize_server() {
582
	ERR_FAIL_NULL(navigation_server_2d);
583
	navigation_server_2d->finish();
584
	memdelete(navigation_server_2d);
585
	navigation_server_2d = nullptr;
586
}
587

588
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