Cppcheck report - Godot - branch: master, commit: 216b3302f318c32a5dcf250293d90e47e712e8e9 (2024-12-22): scene/3d/navigation_agent_3d.cpp

/**************************************************************************/
/*  navigation_agent_3d.cpp                                               */
/**************************************************************************/
/*                         This file is part of:                          */
/*                             GODOT ENGINE                               */
/*                        https://godotengine.org                         */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
/*                                                                        */
/* Permission is hereby granted, free of charge, to any person obtaining  */
/* a copy of this software and associated documentation files (the        */
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/* included in all copies or substantial portions of the Software.        */
/*                                                                        */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/**************************************************************************/

#include "navigation_agent_3d.h"

#include "scene/3d/navigation_link_3d.h"
#include "servers/navigation_server_3d.h"

void NavigationAgent3D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent3D::get_rid);

	ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent3D::set_avoidance_enabled);
	ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent3D::get_avoidance_enabled);

	ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent3D::set_path_desired_distance);
	ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent3D::get_path_desired_distance);

	ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent3D::set_target_desired_distance);
	ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent3D::get_target_desired_distance);

	ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent3D::set_radius);
	ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent3D::get_radius);

	ClassDB::bind_method(D_METHOD("set_height", "height"), &NavigationAgent3D::set_height);
	ClassDB::bind_method(D_METHOD("get_height"), &NavigationAgent3D::get_height);

	ClassDB::bind_method(D_METHOD("set_path_height_offset", "path_height_offset"), &NavigationAgent3D::set_path_height_offset);
	ClassDB::bind_method(D_METHOD("get_path_height_offset"), &NavigationAgent3D::get_path_height_offset);

	ClassDB::bind_method(D_METHOD("set_use_3d_avoidance", "enabled"), &NavigationAgent3D::set_use_3d_avoidance);
	ClassDB::bind_method(D_METHOD("get_use_3d_avoidance"), &NavigationAgent3D::get_use_3d_avoidance);

	ClassDB::bind_method(D_METHOD("set_keep_y_velocity", "enabled"), &NavigationAgent3D::set_keep_y_velocity);
	ClassDB::bind_method(D_METHOD("get_keep_y_velocity"), &NavigationAgent3D::get_keep_y_velocity);

	ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent3D::set_neighbor_distance);
	ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent3D::get_neighbor_distance);

	ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent3D::set_max_neighbors);
	ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent3D::get_max_neighbors);

	ClassDB::bind_method(D_METHOD("set_time_horizon_agents", "time_horizon"), &NavigationAgent3D::set_time_horizon_agents);
	ClassDB::bind_method(D_METHOD("get_time_horizon_agents"), &NavigationAgent3D::get_time_horizon_agents);

	ClassDB::bind_method(D_METHOD("set_time_horizon_obstacles", "time_horizon"), &NavigationAgent3D::set_time_horizon_obstacles);
	ClassDB::bind_method(D_METHOD("get_time_horizon_obstacles"), &NavigationAgent3D::get_time_horizon_obstacles);

	ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent3D::set_max_speed);
	ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent3D::get_max_speed);

	ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent3D::set_path_max_distance);
	ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent3D::get_path_max_distance);

	ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent3D::set_navigation_layers);
	ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent3D::get_navigation_layers);

	ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent3D::set_navigation_layer_value);
	ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent3D::get_navigation_layer_value);

	ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent3D::set_pathfinding_algorithm);
	ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent3D::get_pathfinding_algorithm);

	ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent3D::set_path_postprocessing);
	ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent3D::get_path_postprocessing);

	ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent3D::set_path_metadata_flags);
	ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent3D::get_path_metadata_flags);

	ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent3D::set_navigation_map);
	ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent3D::get_navigation_map);

	ClassDB::bind_method(D_METHOD("set_target_position", "position"), &NavigationAgent3D::set_target_position);
	ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent3D::get_target_position);

	ClassDB::bind_method(D_METHOD("set_simplify_path", "enabled"), &NavigationAgent3D::set_simplify_path);
	ClassDB::bind_method(D_METHOD("get_simplify_path"), &NavigationAgent3D::get_simplify_path);

	ClassDB::bind_method(D_METHOD("set_simplify_epsilon", "epsilon"), &NavigationAgent3D::set_simplify_epsilon);
	ClassDB::bind_method(D_METHOD("get_simplify_epsilon"), &NavigationAgent3D::get_simplify_epsilon);

	ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent3D::get_next_path_position);

	ClassDB::bind_method(D_METHOD("set_velocity_forced", "velocity"), &NavigationAgent3D::set_velocity_forced);

	ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent3D::set_velocity);
	ClassDB::bind_method(D_METHOD("get_velocity"), &NavigationAgent3D::get_velocity);

	ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent3D::distance_to_target);

	ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent3D::get_current_navigation_result);

	ClassDB::bind_method(D_METHOD("get_current_navigation_path"), &NavigationAgent3D::get_current_navigation_path);
	ClassDB::bind_method(D_METHOD("get_current_navigation_path_index"), &NavigationAgent3D::get_current_navigation_path_index);
	ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent3D::is_target_reached);
	ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent3D::is_target_reachable);
	ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent3D::is_navigation_finished);
	ClassDB::bind_method(D_METHOD("get_final_position"), &NavigationAgent3D::get_final_position);

	ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent3D::_avoidance_done);

	ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationAgent3D::set_avoidance_layers);
	ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationAgent3D::get_avoidance_layers);
	ClassDB::bind_method(D_METHOD("set_avoidance_mask", "mask"), &NavigationAgent3D::set_avoidance_mask);
	ClassDB::bind_method(D_METHOD("get_avoidance_mask"), &NavigationAgent3D::get_avoidance_mask);
	ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationAgent3D::set_avoidance_layer_value);
	ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationAgent3D::get_avoidance_layer_value);
	ClassDB::bind_method(D_METHOD("set_avoidance_mask_value", "mask_number", "value"), &NavigationAgent3D::set_avoidance_mask_value);
	ClassDB::bind_method(D_METHOD("get_avoidance_mask_value", "mask_number"), &NavigationAgent3D::get_avoidance_mask_value);
	ClassDB::bind_method(D_METHOD("set_avoidance_priority", "priority"), &NavigationAgent3D::set_avoidance_priority);
	ClassDB::bind_method(D_METHOD("get_avoidance_priority"), &NavigationAgent3D::get_avoidance_priority);

	ADD_GROUP("Pathfinding", "");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_target_position", "get_target_position");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,or_greater,suffix:m"), "set_path_desired_distance", "get_path_desired_distance");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,or_greater,suffix:m"), "set_target_desired_distance", "get_target_desired_distance");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01,or_greater,suffix:m"), "set_path_height_offset", "get_path_height_offset");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1,or_greater,suffix:m"), "set_path_max_distance", "get_path_max_distance");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered,None"), "set_path_postprocessing", "get_path_postprocessing");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "simplify_path"), "set_simplify_path", "get_simplify_path");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "simplify_epsilon", PROPERTY_HINT_RANGE, "0.0,10.0,0.001,or_greater,suffix:m"), "set_simplify_epsilon", "get_simplify_epsilon");

	ADD_GROUP("Avoidance", "");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "height", PROPERTY_HINT_RANGE, "0.01,100,0.01,or_greater,suffix:m"), "set_height", "get_height");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,100,0.01,or_greater,suffix:m"), "set_radius", "get_radius");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,10000,0.01,or_greater,suffix:m"), "set_neighbor_distance", "get_neighbor_distance");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1,or_greater"), "set_max_neighbors", "get_max_neighbors");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon_agents", PROPERTY_HINT_RANGE, "0.0,10,0.01,or_greater,suffix:s"), "set_time_horizon_agents", "get_time_horizon_agents");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon_obstacles", PROPERTY_HINT_RANGE, "0.0,10,0.01,or_greater,suffix:s"), "set_time_horizon_obstacles", "get_time_horizon_obstacles");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.01,10000,0.01,or_greater,suffix:m/s"), "set_max_speed", "get_max_speed");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_3d_avoidance"), "set_use_3d_avoidance", "get_use_3d_avoidance");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "keep_y_velocity"), "set_keep_y_velocity", "get_keep_y_velocity");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_mask", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_mask", "get_avoidance_mask");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "avoidance_priority", PROPERTY_HINT_RANGE, "0.0,1.0,0.01"), "set_avoidance_priority", "get_avoidance_priority");

	ADD_SIGNAL(MethodInfo("path_changed"));
	ADD_SIGNAL(MethodInfo("target_reached"));
	ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
	ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details")));
	ADD_SIGNAL(MethodInfo("navigation_finished"));
	ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));

	ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent3D::set_debug_enabled);
	ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent3D::get_debug_enabled);
	ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent3D::set_debug_use_custom);
	ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent3D::get_debug_use_custom);
	ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent3D::set_debug_path_custom_color);
	ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent3D::get_debug_path_custom_color);
	ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent3D::set_debug_path_custom_point_size);
	ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent3D::get_debug_path_custom_point_size);

	ADD_GROUP("Debug", "debug_");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom");
	ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_point_size", PROPERTY_HINT_RANGE, "0,50,0.01,or_greater,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size");
}

#ifndef DISABLE_DEPRECATED
// Compatibility with Godot 4.0 beta 10 or below.
// Functions in block below all renamed or replaced in 4.0 beta 1X avoidance rework.
bool NavigationAgent3D::_set(const StringName &p_name, const Variant &p_value) {
	if (p_name == "time_horizon") {
		set_time_horizon_agents(p_value);
		return true;
	}
	if (p_name == "target_location") {
		set_target_position(p_value);
		return true;
	}
	if (p_name == "agent_height_offset") {
		set_path_height_offset(p_value);
		return true;
	}
	return false;
}

bool NavigationAgent3D::_get(const StringName &p_name, Variant &r_ret) const {
	if (p_name == "time_horizon") {
		r_ret = get_time_horizon_agents();
		return true;
	}
	if (p_name == "target_location") {
		r_ret = get_target_position();
		return true;
	}
	if (p_name == "agent_height_offset") {
		r_ret = get_path_height_offset();
		return true;
	}
	return false;
}
#endif // DISABLE_DEPRECATED

void NavigationAgent3D::_notification(int p_what) {
	switch (p_what) {
		case NOTIFICATION_POST_ENTER_TREE: {
			// need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready.
			// cannot use READY as ready does not get called if Node is re-added to SceneTree
			set_agent_parent(get_parent());
			set_physics_process_internal(true);

			if (agent_parent && avoidance_enabled) {
				NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
			}

#ifdef DEBUG_ENABLED
			if (NavigationServer3D::get_singleton()->get_debug_enabled()) {
				debug_path_dirty = true;
			}
#endif // DEBUG_ENABLED

		} break;

		case NOTIFICATION_PARENTED: {
			if (is_inside_tree() && (get_parent() != agent_parent)) {
				// only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around
				// PARENTED notification fires also when Node is added in scripts to a parent
				// this would spam transforms fails and world fails while Node is outside SceneTree
				// when node gets reparented when joining the tree POST_ENTER_TREE takes care of this
				set_agent_parent(get_parent());
				set_physics_process_internal(true);
			}
		} break;

		case NOTIFICATION_UNPARENTED: {
			// if agent has no parent no point in processing it until reparented
			set_agent_parent(nullptr);
			set_physics_process_internal(false);
		} break;

		case NOTIFICATION_EXIT_TREE: {
			set_agent_parent(nullptr);
			set_physics_process_internal(false);

#ifdef DEBUG_ENABLED
			if (debug_path_instance.is_valid()) {
				RS::get_singleton()->instance_set_visible(debug_path_instance, false);
			}
#endif // DEBUG_ENABLED
		} break;

		case NOTIFICATION_SUSPENDED:
		case NOTIFICATION_PAUSED: {
			if (agent_parent) {
				NavigationServer3D::get_singleton()->agent_set_paused(get_rid(), !agent_parent->can_process());
			}
		} break;

		case NOTIFICATION_UNSUSPENDED: {
			if (get_tree()->is_paused()) {
				break;
			}
			[[fallthrough]];
		}

		case NOTIFICATION_UNPAUSED: {
			if (agent_parent) {
				NavigationServer3D::get_singleton()->agent_set_paused(get_rid(), !agent_parent->can_process());
			}
		} break;

		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
			if (agent_parent && avoidance_enabled) {
				NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
			}
			if (agent_parent && target_position_submitted) {
				if (velocity_submitted) {
					velocity_submitted = false;
					if (avoidance_enabled) {
						if (!use_3d_avoidance) {
							if (keep_y_velocity) {
								stored_y_velocity = velocity.y;
							}
							velocity.y = 0.0;
						}
						NavigationServer3D::get_singleton()->agent_set_velocity(agent, velocity);
					}
				}
				if (velocity_forced_submitted) {
					velocity_forced_submitted = false;
					if (avoidance_enabled) {
						NavigationServer3D::get_singleton()->agent_set_velocity_forced(agent, velocity_forced);
					}
				}
			}
#ifdef DEBUG_ENABLED
			if (debug_path_dirty) {
				_update_debug_path();
			}
#endif // DEBUG_ENABLED
		} break;
	}
}

void NavigationAgent3D::_validate_property(PropertyInfo &p_property) const {
	if (p_property.name == "keep_y_velocity" && use_3d_avoidance) {
		p_property.usage = PROPERTY_USAGE_NONE;
		return;
	}
}

NavigationAgent3D::NavigationAgent3D() {
	agent = NavigationServer3D::get_singleton()->agent_create();
<--- Variable 'agent' is assigned in constructor body. Consider performing initialization in initialization list. [+]
When an object of a class is created, the constructors of all member variables are called consecutively in the order the variables are declared, even if you don't explicitly write them to the initialization list. You could avoid assigning 'agent' a value by passing the value to the constructor in the initialization list.

	NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
	NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
	NavigationServer3D::get_singleton()->agent_set_time_horizon_agents(agent, time_horizon_agents);
	NavigationServer3D::get_singleton()->agent_set_time_horizon_obstacles(agent, time_horizon_obstacles);
	NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
	NavigationServer3D::get_singleton()->agent_set_height(agent, height);
	NavigationServer3D::get_singleton()->agent_set_max_speed(agent, max_speed);
	NavigationServer3D::get_singleton()->agent_set_avoidance_layers(agent, avoidance_layers);
	NavigationServer3D::get_singleton()->agent_set_avoidance_mask(agent, avoidance_mask);
	NavigationServer3D::get_singleton()->agent_set_avoidance_priority(agent, avoidance_priority);
	NavigationServer3D::get_singleton()->agent_set_use_3d_avoidance(agent, use_3d_avoidance);
	NavigationServer3D::get_singleton()->agent_set_avoidance_enabled(agent, avoidance_enabled);
	if (avoidance_enabled) {
		NavigationServer3D::get_singleton()->agent_set_avoidance_callback(agent, callable_mp(this, &NavigationAgent3D::_avoidance_done));
	}

	// Preallocate query and result objects to improve performance.
	navigation_query = Ref<NavigationPathQueryParameters3D>();
	navigation_query.instantiate();

	navigation_result = Ref<NavigationPathQueryResult3D>();
	navigation_result.instantiate();

#ifdef DEBUG_ENABLED
	NavigationServer3D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent3D::_navigation_debug_changed));
#endif // DEBUG_ENABLED
}

NavigationAgent3D::~NavigationAgent3D() {
	ERR_FAIL_NULL(NavigationServer3D::get_singleton());
	NavigationServer3D::get_singleton()->free(agent);
	agent = RID(); // Pointless

#ifdef DEBUG_ENABLED
	NavigationServer3D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent3D::_navigation_debug_changed));

	ERR_FAIL_NULL(RenderingServer::get_singleton());
	if (debug_path_instance.is_valid()) {
		RenderingServer::get_singleton()->free(debug_path_instance);
	}
	if (debug_path_mesh.is_valid()) {
		RenderingServer::get_singleton()->free(debug_path_mesh->get_rid());
	}
#endif // DEBUG_ENABLED
}

void NavigationAgent3D::set_avoidance_enabled(bool p_enabled) {
	if (avoidance_enabled == p_enabled) {
		return;
	}

	avoidance_enabled = p_enabled;

	if (avoidance_enabled) {
		NavigationServer3D::get_singleton()->agent_set_avoidance_enabled(agent, true);
		NavigationServer3D::get_singleton()->agent_set_avoidance_callback(agent, callable_mp(this, &NavigationAgent3D::_avoidance_done));
	} else {
		NavigationServer3D::get_singleton()->agent_set_avoidance_enabled(agent, false);
		NavigationServer3D::get_singleton()->agent_set_avoidance_callback(agent, Callable());
	}
}

bool NavigationAgent3D::get_avoidance_enabled() const {
	return avoidance_enabled;
}

void NavigationAgent3D::set_agent_parent(Node *p_agent_parent) {
	if (agent_parent == p_agent_parent) {
		return;
	}

	// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
	NavigationServer3D::get_singleton()->agent_set_avoidance_callback(agent, Callable());

	if (Object::cast_to<Node3D>(p_agent_parent) != nullptr) {
		// place agent on navigation map first or else the RVO agent callback creation fails silently later
		agent_parent = Object::cast_to<Node3D>(p_agent_parent);
		if (map_override.is_valid()) {
			NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_override);
		} else {
			NavigationServer3D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_3d()->get_navigation_map());
		}

		// create new avoidance callback if enabled
		if (avoidance_enabled) {
			NavigationServer3D::get_singleton()->agent_set_avoidance_callback(agent, callable_mp(this, &NavigationAgent3D::_avoidance_done));
		}
	} else {
		agent_parent = nullptr;
		NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
	}
}

void NavigationAgent3D::set_navigation_layers(uint32_t p_navigation_layers) {
	if (navigation_layers == p_navigation_layers) {
		return;
	}

	navigation_layers = p_navigation_layers;

	_request_repath();
}

uint32_t NavigationAgent3D::get_navigation_layers() const {
	return navigation_layers;
}

void NavigationAgent3D::set_navigation_layer_value(int p_layer_number, bool p_value) {
	ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive.");
	ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive.");
	uint32_t _navigation_layers = get_navigation_layers();
	if (p_value) {
		_navigation_layers |= 1 << (p_layer_number - 1);
	} else {
		_navigation_layers &= ~(1 << (p_layer_number - 1));
	}
	set_navigation_layers(_navigation_layers);
}

bool NavigationAgent3D::get_navigation_layer_value(int p_layer_number) const {
	ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive.");
	ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive.");
	return get_navigation_layers() & (1 << (p_layer_number - 1));
}

void NavigationAgent3D::set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm) {
	if (pathfinding_algorithm == p_pathfinding_algorithm) {
		return;
	}

	pathfinding_algorithm = p_pathfinding_algorithm;

	navigation_query->set_pathfinding_algorithm(pathfinding_algorithm);
}

void NavigationAgent3D::set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing) {
	if (path_postprocessing == p_path_postprocessing) {
		return;
	}

	path_postprocessing = p_path_postprocessing;

	navigation_query->set_path_postprocessing(path_postprocessing);
}

void NavigationAgent3D::set_simplify_path(bool p_enabled) {
	simplify_path = p_enabled;
	navigation_query->set_simplify_path(simplify_path);
}

bool NavigationAgent3D::get_simplify_path() const {
	return simplify_path;
}

void NavigationAgent3D::set_simplify_epsilon(real_t p_epsilon) {
	simplify_epsilon = MAX(0.0, p_epsilon);
	navigation_query->set_simplify_epsilon(simplify_epsilon);
}

real_t NavigationAgent3D::get_simplify_epsilon() const {
	return simplify_epsilon;
}

void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_path_metadata_flags) {
	if (path_metadata_flags == p_path_metadata_flags) {
		return;
	}

	path_metadata_flags = p_path_metadata_flags;
}

void NavigationAgent3D::set_navigation_map(RID p_navigation_map) {
	if (map_override == p_navigation_map) {
		return;
	}

	map_override = p_navigation_map;

	NavigationServer3D::get_singleton()->agent_set_map(agent, map_override);
	_request_repath();
}

RID NavigationAgent3D::get_navigation_map() const {
	if (map_override.is_valid()) {
		return map_override;
	} else if (agent_parent != nullptr) {
		return agent_parent->get_world_3d()->get_navigation_map();
	}
	return RID();
}

void NavigationAgent3D::set_path_desired_distance(real_t p_path_desired_distance) {
	if (Math::is_equal_approx(path_desired_distance, p_path_desired_distance)) {
		return;
	}

	path_desired_distance = p_path_desired_distance;
}

void NavigationAgent3D::set_target_desired_distance(real_t p_target_desired_distance) {
	if (Math::is_equal_approx(target_desired_distance, p_target_desired_distance)) {
		return;
	}

	target_desired_distance = p_target_desired_distance;
}

void NavigationAgent3D::set_radius(real_t p_radius) {
	ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
	if (Math::is_equal_approx(radius, p_radius)) {
		return;
	}
	radius = p_radius;

	NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
}

void NavigationAgent3D::set_height(real_t p_height) {
	ERR_FAIL_COND_MSG(p_height < 0.0, "Height must be positive.");
	if (Math::is_equal_approx(height, p_height)) {
		return;
	}
	height = p_height;
	NavigationServer3D::get_singleton()->agent_set_height(agent, height);
}

void NavigationAgent3D::set_path_height_offset(real_t p_path_height_offset) {
	path_height_offset = p_path_height_offset;
}

void NavigationAgent3D::set_use_3d_avoidance(bool p_use_3d_avoidance) {
	use_3d_avoidance = p_use_3d_avoidance;
	NavigationServer3D::get_singleton()->agent_set_use_3d_avoidance(agent, use_3d_avoidance);
	notify_property_list_changed();
}

void NavigationAgent3D::set_keep_y_velocity(bool p_enabled) {
	keep_y_velocity = p_enabled;
	stored_y_velocity = 0.0;
}

bool NavigationAgent3D::get_keep_y_velocity() const {
	return keep_y_velocity;
}

void NavigationAgent3D::set_neighbor_distance(real_t p_distance) {
	if (Math::is_equal_approx(neighbor_distance, p_distance)) {
		return;
	}

	neighbor_distance = p_distance;

	NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
}

void NavigationAgent3D::set_max_neighbors(int p_count) {
	if (max_neighbors == p_count) {
		return;
	}

	max_neighbors = p_count;

	NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
}

void NavigationAgent3D::set_time_horizon_agents(real_t p_time_horizon) {
	ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizon must be positive.");
	if (Math::is_equal_approx(time_horizon_agents, p_time_horizon)) {
		return;
	}
	time_horizon_agents = p_time_horizon;
	NavigationServer3D::get_singleton()->agent_set_time_horizon_agents(agent, time_horizon_agents);
}

void NavigationAgent3D::set_time_horizon_obstacles(real_t p_time_horizon) {
	ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizon must be positive.");
	if (Math::is_equal_approx(time_horizon_obstacles, p_time_horizon)) {
		return;
	}
	time_horizon_obstacles = p_time_horizon;
	NavigationServer3D::get_singleton()->agent_set_time_horizon_obstacles(agent, time_horizon_obstacles);
}

void NavigationAgent3D::set_max_speed(real_t p_max_speed) {
	ERR_FAIL_COND_MSG(p_max_speed < 0.0, "Max speed must be positive.");
	if (Math::is_equal_approx(max_speed, p_max_speed)) {
		return;
	}
	max_speed = p_max_speed;

	NavigationServer3D::get_singleton()->agent_set_max_speed(agent, max_speed);
}

void NavigationAgent3D::set_path_max_distance(real_t p_path_max_distance) {
	if (Math::is_equal_approx(path_max_distance, p_path_max_distance)) {
		return;
	}

	path_max_distance = p_path_max_distance;
}

real_t NavigationAgent3D::get_path_max_distance() {
	return path_max_distance;
}

void NavigationAgent3D::set_target_position(Vector3 p_position) {
	// Intentionally not checking for equality of the parameter, as we want to update the path even if the target position is the same in case the world changed.
	// Revisit later when the navigation server can update the path without requesting a new path.

	target_position = p_position;
	target_position_submitted = true;

	_request_repath();
}

Vector3 NavigationAgent3D::get_target_position() const {
	return target_position;
}

Vector3 NavigationAgent3D::get_next_path_position() {
	_update_navigation();

	const Vector<Vector3> &navigation_path = navigation_result->get_path();
	if (navigation_path.size() == 0) {
		ERR_FAIL_NULL_V_MSG(agent_parent, Vector3(), "The agent has no parent.");
		return agent_parent->get_global_position();
	} else {
		return navigation_path[navigation_path_index] - Vector3(0, path_height_offset, 0);
	}
}

real_t NavigationAgent3D::distance_to_target() const {
	ERR_FAIL_NULL_V_MSG(agent_parent, 0.0, "The agent has no parent.");
	return agent_parent->get_global_position().distance_to(target_position);
}

bool NavigationAgent3D::is_target_reached() const {
	return target_reached;
}

bool NavigationAgent3D::is_target_reachable() {
	_update_navigation();
	return _is_target_reachable();
}

bool NavigationAgent3D::_is_target_reachable() const {
	return target_desired_distance >= _get_final_position().distance_to(target_position);
}

bool NavigationAgent3D::is_navigation_finished() {
	_update_navigation();
	return navigation_finished;
}

Vector3 NavigationAgent3D::get_final_position() {
	_update_navigation();
	return _get_final_position();
}

Vector3 NavigationAgent3D::_get_final_position() const {
	const Vector<Vector3> &navigation_path = navigation_result->get_path();
	if (navigation_path.size() == 0) {
		return Vector3();
	}
	return navigation_path[navigation_path.size() - 1] - Vector3(0, path_height_offset, 0);
}

void NavigationAgent3D::set_velocity_forced(Vector3 p_velocity) {
	// Intentionally not checking for equality of the parameter.
	// We need to always submit the velocity to the navigation server, even when it is the same, in order to run avoidance every frame.
	// Revisit later when the navigation server can update avoidance without users resubmitting the velocity.

	velocity_forced = p_velocity;
	velocity_forced_submitted = true;
}

void NavigationAgent3D::set_velocity(const Vector3 p_velocity) {
	velocity = p_velocity;
	velocity_submitted = true;
}

void NavigationAgent3D::_avoidance_done(Vector3 p_new_velocity) {
	safe_velocity = p_new_velocity;
	if (!use_3d_avoidance) {
		safe_velocity.y = stored_y_velocity;
	}
	emit_signal(SNAME("velocity_computed"), safe_velocity);
}

PackedStringArray NavigationAgent3D::get_configuration_warnings() const {
	PackedStringArray warnings = Node::get_configuration_warnings();

	if (!Object::cast_to<Node3D>(get_parent())) {
		warnings.push_back(RTR("The NavigationAgent3D can be used only under a Node3D inheriting parent node."));
	}

	return warnings;
}

void NavigationAgent3D::_update_navigation() {
	if (agent_parent == nullptr) {
		return;
	}
	if (!agent_parent->is_inside_tree()) {
		return;
	}
	if (!target_position_submitted) {
		return;
	}

	Vector3 origin = agent_parent->get_global_position();

	bool reload_path = false;

	if (NavigationServer3D::get_singleton()->agent_is_map_changed(agent)) {
		reload_path = true;
	} else if (navigation_result->get_path().size() == 0) {
		reload_path = true;
	} else {
		// Check if too far from the navigation path
		if (navigation_path_index > 0) {
			const Vector<Vector3> &navigation_path = navigation_result->get_path();

			Vector3 segment[2];
			segment[0] = navigation_path[navigation_path_index - 1];
			segment[1] = navigation_path[navigation_path_index];
			segment[0].y -= path_height_offset;
			segment[1].y -= path_height_offset;
			Vector3 p = Geometry3D::get_closest_point_to_segment(origin, segment);
			if (origin.distance_to(p) >= path_max_distance) {
				// To faraway, reload path
				reload_path = true;
			}
		}
	}

	if (reload_path) {
		navigation_query->set_start_position(origin);
		navigation_query->set_target_position(target_position);
		navigation_query->set_navigation_layers(navigation_layers);
		navigation_query->set_metadata_flags(path_metadata_flags);

		if (map_override.is_valid()) {
			navigation_query->set_map(map_override);
		} else {
			navigation_query->set_map(agent_parent->get_world_3d()->get_navigation_map());
		}

		NavigationServer3D::get_singleton()->query_path(navigation_query, navigation_result);
#ifdef DEBUG_ENABLED
		debug_path_dirty = true;
#endif // DEBUG_ENABLED
		navigation_finished = false;
		last_waypoint_reached = false;
		navigation_path_index = 0;
		emit_signal(SNAME("path_changed"));
	}

	if (navigation_result->get_path().size() == 0) {
		return;
	}

	// Check if the navigation has already finished.
	if (navigation_finished) {
		return;
	}

	// Check if we reached the target.
	if (_is_within_target_distance(origin)) {
		// Emit waypoint_reached in case we also moved within distance of a waypoint.
		_advance_waypoints(origin);
		_transition_to_target_reached();
		_transition_to_navigation_finished();
	} else {
		// Advance waypoints if possible.
		_advance_waypoints(origin);
		// Keep navigation running even after reaching the last waypoint if the target is reachable.
		if (last_waypoint_reached && !_is_target_reachable()) {
			_transition_to_navigation_finished();
		}
	}
}

void NavigationAgent3D::_advance_waypoints(const Vector3 &p_origin) {
	if (last_waypoint_reached) {
		return;
	}

	// Advance to the farthest possible waypoint.
	while (_is_within_waypoint_distance(p_origin)) {
		_trigger_waypoint_reached();

		if (_is_last_waypoint()) {
			last_waypoint_reached = true;
			break;
		}

		_move_to_next_waypoint();
	}
}

void NavigationAgent3D::_request_repath() {
	navigation_result->reset();
	target_reached = false;
	navigation_finished = false;
	last_waypoint_reached = false;
}

bool NavigationAgent3D::_is_last_waypoint() const {
	return navigation_path_index == navigation_result->get_path().size() - 1;
}

void NavigationAgent3D::_move_to_next_waypoint() {
	navigation_path_index += 1;
}

bool NavigationAgent3D::_is_within_waypoint_distance(const Vector3 &p_origin) const {
	const Vector<Vector3> &navigation_path = navigation_result->get_path();
	Vector3 waypoint = navigation_path[navigation_path_index] - Vector3(0, path_height_offset, 0);
	return p_origin.distance_to(waypoint) < path_desired_distance;
}

bool NavigationAgent3D::_is_within_target_distance(const Vector3 &p_origin) const {
	return p_origin.distance_to(target_position) < target_desired_distance;
}

void NavigationAgent3D::_trigger_waypoint_reached() {
	const Vector<Vector3> &navigation_path = navigation_result->get_path();
	const Vector<int32_t> &navigation_path_types = navigation_result->get_path_types();
	const TypedArray<RID> &navigation_path_rids = navigation_result->get_path_rids();
	const Vector<int64_t> &navigation_path_owners = navigation_result->get_path_owner_ids();

	Dictionary details;

	const Vector3 waypoint = navigation_path[navigation_path_index];
	details[CoreStringName(position)] = waypoint;

	int waypoint_type = -1;
	if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_TYPES)) {
		const NavigationPathQueryResult3D::PathSegmentType type = NavigationPathQueryResult3D::PathSegmentType(navigation_path_types[navigation_path_index]);

		details[SNAME("type")] = type;
		waypoint_type = type;
	}

	if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_RIDS)) {
		details[SNAME("rid")] = navigation_path_rids[navigation_path_index];
	}

	if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_OWNERS)) {
		const ObjectID waypoint_owner_id = ObjectID(navigation_path_owners[navigation_path_index]);

		// Get a reference to the owning object.
		Object *owner = nullptr;
		if (waypoint_owner_id.is_valid()) {
			owner = ObjectDB::get_instance(waypoint_owner_id);
		}

		details[SNAME("owner")] = owner;

		if (waypoint_type == NavigationPathQueryResult3D::PATH_SEGMENT_TYPE_LINK) {
			const NavigationLink3D *navlink = Object::cast_to<NavigationLink3D>(owner);
			if (navlink) {
				Vector3 link_global_start_position = navlink->get_global_start_position();
				Vector3 link_global_end_position = navlink->get_global_end_position();
				if (waypoint.distance_to(link_global_start_position) < waypoint.distance_to(link_global_end_position)) {
					details[SNAME("link_entry_position")] = link_global_start_position;
					details[SNAME("link_exit_position")] = link_global_end_position;
				} else {
					details[SNAME("link_entry_position")] = link_global_end_position;
					details[SNAME("link_exit_position")] = link_global_start_position;
				}
			}
		}
	}

	// Emit a signal for the waypoint.
	emit_signal(SNAME("waypoint_reached"), details);

	// Emit a signal if we've reached a navigation link.
	if (waypoint_type == NavigationPathQueryResult3D::PATH_SEGMENT_TYPE_LINK) {
		emit_signal(SNAME("link_reached"), details);
	}
}

void NavigationAgent3D::_transition_to_navigation_finished() {
	navigation_finished = true;
	target_position_submitted = false;

	if (avoidance_enabled) {
		NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
		NavigationServer3D::get_singleton()->agent_set_velocity(agent, Vector3(0.0, 0.0, 0.0));
		NavigationServer3D::get_singleton()->agent_set_velocity_forced(agent, Vector3(0.0, 0.0, 0.0));
		stored_y_velocity = 0.0;
	}

	emit_signal(SNAME("navigation_finished"));
}

void NavigationAgent3D::_transition_to_target_reached() {
	target_reached = true;
	emit_signal(SNAME("target_reached"));
}

void NavigationAgent3D::set_avoidance_layers(uint32_t p_layers) {
	avoidance_layers = p_layers;
	NavigationServer3D::get_singleton()->agent_set_avoidance_layers(get_rid(), avoidance_layers);
}

uint32_t NavigationAgent3D::get_avoidance_layers() const {
	return avoidance_layers;
}

void NavigationAgent3D::set_avoidance_mask(uint32_t p_mask) {
	avoidance_mask = p_mask;
	NavigationServer3D::get_singleton()->agent_set_avoidance_mask(get_rid(), avoidance_mask);
}

uint32_t NavigationAgent3D::get_avoidance_mask() const {
	return avoidance_mask;
}

void NavigationAgent3D::set_avoidance_layer_value(int p_layer_number, bool p_value) {
	ERR_FAIL_COND_MSG(p_layer_number < 1, "Avoidance layer number must be between 1 and 32 inclusive.");
	ERR_FAIL_COND_MSG(p_layer_number > 32, "Avoidance layer number must be between 1 and 32 inclusive.");
	uint32_t avoidance_layers_new = get_avoidance_layers();
	if (p_value) {
		avoidance_layers_new |= 1 << (p_layer_number - 1);
	} else {
		avoidance_layers_new &= ~(1 << (p_layer_number - 1));
	}
	set_avoidance_layers(avoidance_layers_new);
}

bool NavigationAgent3D::get_avoidance_layer_value(int p_layer_number) const {
	ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Avoidance layer number must be between 1 and 32 inclusive.");
	ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Avoidance layer number must be between 1 and 32 inclusive.");
	return get_avoidance_layers() & (1 << (p_layer_number - 1));
}

void NavigationAgent3D::set_avoidance_mask_value(int p_mask_number, bool p_value) {
	ERR_FAIL_COND_MSG(p_mask_number < 1, "Avoidance mask number must be between 1 and 32 inclusive.");
	ERR_FAIL_COND_MSG(p_mask_number > 32, "Avoidance mask number must be between 1 and 32 inclusive.");
	uint32_t mask = get_avoidance_mask();
	if (p_value) {
		mask |= 1 << (p_mask_number - 1);
	} else {
		mask &= ~(1 << (p_mask_number - 1));
	}
	set_avoidance_mask(mask);
}

bool NavigationAgent3D::get_avoidance_mask_value(int p_mask_number) const {
	ERR_FAIL_COND_V_MSG(p_mask_number < 1, false, "Avoidance mask number must be between 1 and 32 inclusive.");
	ERR_FAIL_COND_V_MSG(p_mask_number > 32, false, "Avoidance mask number must be between 1 and 32 inclusive.");
	return get_avoidance_mask() & (1 << (p_mask_number - 1));
}

void NavigationAgent3D::set_avoidance_priority(real_t p_priority) {
	ERR_FAIL_COND_MSG(p_priority < 0.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
	ERR_FAIL_COND_MSG(p_priority > 1.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
	avoidance_priority = p_priority;
	NavigationServer3D::get_singleton()->agent_set_avoidance_priority(get_rid(), p_priority);
}

real_t NavigationAgent3D::get_avoidance_priority() const {
	return avoidance_priority;
}

////////DEBUG////////////////////////////////////////////////////////////

void NavigationAgent3D::set_debug_enabled(bool p_enabled) {
#ifdef DEBUG_ENABLED
	if (debug_enabled == p_enabled) {
		return;
	}

	debug_enabled = p_enabled;
	debug_path_dirty = true;
#endif // DEBUG_ENABLED
}

bool NavigationAgent3D::get_debug_enabled() const {
	return debug_enabled;
}

void NavigationAgent3D::set_debug_use_custom(bool p_enabled) {
#ifdef DEBUG_ENABLED
	if (debug_use_custom == p_enabled) {
		return;
	}

	debug_use_custom = p_enabled;
	debug_path_dirty = true;
#endif // DEBUG_ENABLED
}

bool NavigationAgent3D::get_debug_use_custom() const {
	return debug_use_custom;
}

void NavigationAgent3D::set_debug_path_custom_color(Color p_color) {
#ifdef DEBUG_ENABLED
	if (debug_path_custom_color == p_color) {
		return;
	}

	debug_path_custom_color = p_color;
	debug_path_dirty = true;
#endif // DEBUG_ENABLED
}

Color NavigationAgent3D::get_debug_path_custom_color() const {
	return debug_path_custom_color;
}

void NavigationAgent3D::set_debug_path_custom_point_size(float p_point_size) {
#ifdef DEBUG_ENABLED
	if (Math::is_equal_approx(debug_path_custom_point_size, p_point_size)) {
		return;
	}

	debug_path_custom_point_size = MAX(0.0, p_point_size);
	debug_path_dirty = true;
#endif // DEBUG_ENABLED
}

float NavigationAgent3D::get_debug_path_custom_point_size() const {
	return debug_path_custom_point_size;
}

#ifdef DEBUG_ENABLED
void NavigationAgent3D::_navigation_debug_changed() {
	debug_path_dirty = true;
}

void NavigationAgent3D::_update_debug_path() {
	if (!debug_path_dirty) {
		return;
	}
	debug_path_dirty = false;

	if (!debug_path_instance.is_valid()) {
		debug_path_instance = RenderingServer::get_singleton()->instance_create();
	}

	if (debug_path_mesh.is_null()) {
		debug_path_mesh.instantiate();
	}

	debug_path_mesh->clear_surfaces();

	if (!(debug_enabled && NavigationServer3D::get_singleton()->get_debug_navigation_enable_agent_paths())) {
		return;
	}

	if (!(agent_parent && agent_parent->is_inside_tree())) {
		return;
	}

	const Vector<Vector3> &navigation_path = navigation_result->get_path();

	if (navigation_path.size() <= 1) {
		return;
	}

	Vector<Vector3> debug_path_lines_vertex_array;

	for (int i = 0; i < navigation_path.size() - 1; i++) {
		debug_path_lines_vertex_array.push_back(navigation_path[i]);
		debug_path_lines_vertex_array.push_back(navigation_path[i + 1]);
	}

	Array debug_path_lines_mesh_array;
	debug_path_lines_mesh_array.resize(Mesh::ARRAY_MAX);
	debug_path_lines_mesh_array[Mesh::ARRAY_VERTEX] = debug_path_lines_vertex_array;

	debug_path_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, debug_path_lines_mesh_array);

	Ref<StandardMaterial3D> debug_agent_path_line_material = NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_line_material();
	if (debug_use_custom) {
		if (!debug_agent_path_line_custom_material.is_valid()) {
			debug_agent_path_line_custom_material = debug_agent_path_line_material->duplicate();
		}
		debug_agent_path_line_custom_material->set_albedo(debug_path_custom_color);
		debug_path_mesh->surface_set_material(0, debug_agent_path_line_custom_material);
	} else {
		debug_path_mesh->surface_set_material(0, debug_agent_path_line_material);
	}

	if (debug_path_custom_point_size > 0.0) {
		Vector<Vector3> debug_path_points_vertex_array;

		for (int i = 0; i < navigation_path.size(); i++) {
			debug_path_points_vertex_array.push_back(navigation_path[i]);
		}

		Array debug_path_points_mesh_array;
		debug_path_points_mesh_array.resize(Mesh::ARRAY_MAX);
		debug_path_points_mesh_array[Mesh::ARRAY_VERTEX] = debug_path_points_vertex_array;

		debug_path_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_POINTS, debug_path_points_mesh_array);

		Ref<StandardMaterial3D> debug_agent_path_point_material = NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_point_material();
		if (debug_use_custom) {
			if (!debug_agent_path_point_custom_material.is_valid()) {
				debug_agent_path_point_custom_material = debug_agent_path_point_material->duplicate();
			}
			debug_agent_path_point_custom_material->set_albedo(debug_path_custom_color);
			debug_agent_path_point_custom_material->set_point_size(debug_path_custom_point_size);
			debug_path_mesh->surface_set_material(1, debug_agent_path_point_custom_material);
		} else {
			debug_path_mesh->surface_set_material(1, debug_agent_path_point_material);
		}
	}

	RS::get_singleton()->instance_set_base(debug_path_instance, debug_path_mesh->get_rid());
	RS::get_singleton()->instance_set_scenario(debug_path_instance, agent_parent->get_world_3d()->get_scenario());
	RS::get_singleton()->instance_set_visible(debug_path_instance, agent_parent->is_visible_in_tree());
}
#endif // DEBUG_ENABLED