virtualx-engine/modules/navigation/godot_navigation_server.cpp

/**************************************************************************/
/*  godot_navigation_server.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        */
/* "Software"), to deal in the Software without restriction, including    */
/* without limitation the rights to use, copy, modify, merge, publish,    */
/* distribute, sublicense, and/or sell copies of the Software, and to     */
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/* included in all copies or substantial portions of the Software.        */
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#include "godot_navigation_server.h"

#ifndef _3D_DISABLED
#include "navigation_mesh_generator.h"
#endif

#include "core/os/mutex.h"

using namespace NavigationUtilities;

/// Creates a struct for each function and a function that once called creates
/// an instance of that struct with the submitted parameters.
/// Then, that struct is stored in an array; the `sync` function consume that array.

#define COMMAND_1(F_NAME, T_0, D_0)                                 \
	struct MERGE(F_NAME, _command) : public SetCommand {            \
		T_0 d_0;                                                    \
		MERGE(F_NAME, _command)                                     \
		(T_0 p_d_0) :                                               \
				d_0(p_d_0) {}                                       \
		virtual void exec(GodotNavigationServer *server) override { \
			server->MERGE(_cmd_, F_NAME)(d_0);                      \
		}                                                           \
	};                                                              \
	void GodotNavigationServer::F_NAME(T_0 D_0) {                   \
		auto cmd = memnew(MERGE(F_NAME, _command)(                  \
				D_0));                                              \
		add_command(cmd);                                           \
	}                                                               \
	void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0)

#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1)                       \
	struct MERGE(F_NAME, _command) : public SetCommand {            \
		T_0 d_0;                                                    \
		T_1 d_1;                                                    \
		MERGE(F_NAME, _command)                                     \
		(                                                           \
				T_0 p_d_0,                                          \
				T_1 p_d_1) :                                        \
				d_0(p_d_0),                                         \
				d_1(p_d_1) {}                                       \
		virtual void exec(GodotNavigationServer *server) override { \
			server->MERGE(_cmd_, F_NAME)(d_0, d_1);                 \
		}                                                           \
	};                                                              \
	void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) {          \
		auto cmd = memnew(MERGE(F_NAME, _command)(                  \
				D_0,                                                \
				D_1));                                              \
		add_command(cmd);                                           \
	}                                                               \
	void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)

GodotNavigationServer::GodotNavigationServer() {}

GodotNavigationServer::~GodotNavigationServer() {
	flush_queries();
}

void GodotNavigationServer::add_command(SetCommand *command) {
	MutexLock lock(commands_mutex);

	commands.push_back(command);
}

TypedArray<RID> GodotNavigationServer::get_maps() const {
	TypedArray<RID> all_map_rids;
	List<RID> maps_owned;
	map_owner.get_owned_list(&maps_owned);
	if (maps_owned.size()) {
		for (const RID &E : maps_owned) {
			all_map_rids.push_back(E);
		}
	}
	return all_map_rids;
}

RID GodotNavigationServer::map_create() {
	MutexLock lock(operations_mutex);

	RID rid = map_owner.make_rid();
	NavMap *map = map_owner.get_or_null(rid);
	map->set_self(rid);
	return rid;
}

COMMAND_2(map_set_active, RID, p_map, bool, p_active) {
	NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND(map == nullptr);

	if (p_active) {
		if (!map_is_active(p_map)) {
			active_maps.push_back(map);
			active_maps_update_id.push_back(map->get_map_update_id());
		}
	} else {
		int map_index = active_maps.find(map);
		ERR_FAIL_COND(map_index < 0);
		active_maps.remove_at(map_index);
		active_maps_update_id.remove_at(map_index);
	}
}

bool GodotNavigationServer::map_is_active(RID p_map) const {
	NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, false);

	return active_maps.find(map) >= 0;
}

COMMAND_2(map_set_up, RID, p_map, Vector3, p_up) {
	NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND(map == nullptr);

	map->set_up(p_up);
}

Vector3 GodotNavigationServer::map_get_up(RID p_map) const {
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, Vector3());

	return map->get_up();
}

COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size) {
	NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND(map == nullptr);

	map->set_cell_size(p_cell_size);
}

real_t GodotNavigationServer::map_get_cell_size(RID p_map) const {
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, 0);

	return map->get_cell_size();
}

COMMAND_2(map_set_cell_height, RID, p_map, real_t, p_cell_height) {
	NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND(map == nullptr);

	map->set_cell_height(p_cell_height);
}

real_t GodotNavigationServer::map_get_cell_height(RID p_map) const {
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, 0);

	return map->get_cell_height();
}

COMMAND_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled) {
	NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND(map == nullptr);

	map->set_use_edge_connections(p_enabled);
}

bool GodotNavigationServer::map_get_use_edge_connections(RID p_map) const {
	NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, false);

	return map->get_use_edge_connections();
}

COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin) {
	NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND(map == nullptr);

	map->set_edge_connection_margin(p_connection_margin);
}

real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const {
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, 0);

	return map->get_edge_connection_margin();
}

COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius) {
	NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND(map == nullptr);

	map->set_link_connection_radius(p_connection_radius);
}

real_t GodotNavigationServer::map_get_link_connection_radius(RID p_map) const {
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, 0);

	return map->get_link_connection_radius();
}

Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const {
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());

	return map->get_path(p_origin, p_destination, p_optimize, p_navigation_layers, nullptr, nullptr, nullptr);
}

Vector3 GodotNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, Vector3());

	return map->get_closest_point_to_segment(p_from, p_to, p_use_collision);
}

Vector3 GodotNavigationServer::map_get_closest_point(RID p_map, const Vector3 &p_point) const {
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, Vector3());

	return map->get_closest_point(p_point);
}

Vector3 GodotNavigationServer::map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const {
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, Vector3());

	return map->get_closest_point_normal(p_point);
}

RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const {
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, RID());

	return map->get_closest_point_owner(p_point);
}

TypedArray<RID> GodotNavigationServer::map_get_links(RID p_map) const {
	TypedArray<RID> link_rids;
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, link_rids);

	const LocalVector<NavLink *> &links = map->get_links();
	link_rids.resize(links.size());

	for (uint32_t i = 0; i < links.size(); i++) {
		link_rids[i] = links[i]->get_self();
	}
	return link_rids;
}

TypedArray<RID> GodotNavigationServer::map_get_regions(RID p_map) const {
	TypedArray<RID> regions_rids;
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, regions_rids);

	const LocalVector<NavRegion *> &regions = map->get_regions();
	regions_rids.resize(regions.size());

	for (uint32_t i = 0; i < regions.size(); i++) {
		regions_rids[i] = regions[i]->get_self();
	}
	return regions_rids;
}

TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const {
	TypedArray<RID> agents_rids;
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, agents_rids);

	const LocalVector<NavAgent *> &agents = map->get_agents();
	agents_rids.resize(agents.size());

	for (uint32_t i = 0; i < agents.size(); i++) {
		agents_rids[i] = agents[i]->get_self();
	}
	return agents_rids;
}

TypedArray<RID> GodotNavigationServer::map_get_obstacles(RID p_map) const {
	TypedArray<RID> obstacles_rids;
	const NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND_V(map == nullptr, obstacles_rids);
	const LocalVector<NavObstacle *> obstacles = map->get_obstacles();
	obstacles_rids.resize(obstacles.size());
	for (uint32_t i = 0; i < obstacles.size(); i++) {
		obstacles_rids[i] = obstacles[i]->get_self();
	}
	return obstacles_rids;
}

RID GodotNavigationServer::region_get_map(RID p_region) const {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(region == nullptr, RID());

	if (region->get_map()) {
		return region->get_map()->get_self();
	}
	return RID();
}

RID GodotNavigationServer::agent_get_map(RID p_agent) const {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND_V(agent == nullptr, RID());

	if (agent->get_map()) {
		return agent->get_map()->get_self();
	}
	return RID();
}

RID GodotNavigationServer::region_create() {
	MutexLock lock(operations_mutex);

	RID rid = region_owner.make_rid();
	NavRegion *reg = region_owner.get_or_null(rid);
	reg->set_self(rid);
	return rid;
}

COMMAND_2(region_set_enabled, RID, p_region, bool, p_enabled) {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND(region == nullptr);

	region->set_enabled(p_enabled);
}

bool GodotNavigationServer::region_get_enabled(RID p_region) const {
	const NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(region == nullptr, false);

	return region->get_enabled();
}

COMMAND_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled) {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND(region == nullptr);

	region->set_use_edge_connections(p_enabled);
}

bool GodotNavigationServer::region_get_use_edge_connections(RID p_region) const {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(region == nullptr, false);

	return region->get_use_edge_connections();
}

COMMAND_2(region_set_map, RID, p_region, RID, p_map) {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND(region == nullptr);

	NavMap *map = map_owner.get_or_null(p_map);

	region->set_map(map);
}

COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform) {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND(region == nullptr);

	region->set_transform(p_transform);
}

COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost) {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND(region == nullptr);
	ERR_FAIL_COND(p_enter_cost < 0.0);

	region->set_enter_cost(p_enter_cost);
}

real_t GodotNavigationServer::region_get_enter_cost(RID p_region) const {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(region == nullptr, 0);

	return region->get_enter_cost();
}

COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost) {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND(region == nullptr);
	ERR_FAIL_COND(p_travel_cost < 0.0);

	region->set_travel_cost(p_travel_cost);
}

real_t GodotNavigationServer::region_get_travel_cost(RID p_region) const {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(region == nullptr, 0);

	return region->get_travel_cost();
}

COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id) {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND(region == nullptr);

	region->set_owner_id(p_owner_id);
}

ObjectID GodotNavigationServer::region_get_owner_id(RID p_region) const {
	const NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(region == nullptr, ObjectID());

	return region->get_owner_id();
}

bool GodotNavigationServer::region_owns_point(RID p_region, const Vector3 &p_point) const {
	const NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(region == nullptr, false);

	if (region->get_map()) {
		RID closest_point_owner = map_get_closest_point_owner(region->get_map()->get_self(), p_point);
		return closest_point_owner == region->get_self();
	}
	return false;
}

COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers) {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND(region == nullptr);

	region->set_navigation_layers(p_navigation_layers);
}

uint32_t GodotNavigationServer::region_get_navigation_layers(RID p_region) const {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(region == nullptr, 0);

	return region->get_navigation_layers();
}

COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navigation_mesh) {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND(region == nullptr);

	region->set_mesh(p_navigation_mesh);
}

#ifndef DISABLE_DEPRECATED
void GodotNavigationServer::region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) {
	ERR_FAIL_COND(p_navigation_mesh.is_null());
	ERR_FAIL_COND(p_root_node == nullptr);

	WARN_PRINT_ONCE("NavigationServer3D::region_bake_navigation_mesh() is deprecated due to core threading changes. To upgrade existing code, first create a NavigationMeshSourceGeometryData3D resource. Use this resource with method parse_source_geometry_data() to parse the SceneTree for nodes that should contribute to the navigation mesh baking. The SceneTree parsing needs to happen on the main thread. After the parsing is finished use the resource with method bake_from_source_geometry_data() to bake a navigation mesh..");

#ifndef _3D_DISABLED
	NavigationMeshGenerator::get_singleton()->clear(p_navigation_mesh);
	Ref<NavigationMeshSourceGeometryData3D> source_geometry_data;
	source_geometry_data.instantiate();
	NavigationMeshGenerator::get_singleton()->parse_source_geometry_data(p_navigation_mesh, source_geometry_data, p_root_node);
	NavigationMeshGenerator::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, source_geometry_data);
#endif
}
#endif // DISABLE_DEPRECATED

int GodotNavigationServer::region_get_connections_count(RID p_region) const {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(!region, 0);

	return region->get_connections_count();
}

Vector3 GodotNavigationServer::region_get_connection_pathway_start(RID p_region, int p_connection_id) const {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(!region, Vector3());

	return region->get_connection_pathway_start(p_connection_id);
}

Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, int p_connection_id) const {
	NavRegion *region = region_owner.get_or_null(p_region);
	ERR_FAIL_COND_V(!region, Vector3());

	return region->get_connection_pathway_end(p_connection_id);
}

RID GodotNavigationServer::link_create() {
	MutexLock lock(operations_mutex);

	RID rid = link_owner.make_rid();
	NavLink *link = link_owner.get_or_null(rid);
	link->set_self(rid);
	return rid;
}

COMMAND_2(link_set_map, RID, p_link, RID, p_map) {
	NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND(link == nullptr);

	NavMap *map = map_owner.get_or_null(p_map);

	link->set_map(map);
}

RID GodotNavigationServer::link_get_map(const RID p_link) const {
	const NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND_V(link == nullptr, RID());

	if (link->get_map()) {
		return link->get_map()->get_self();
	}
	return RID();
}

COMMAND_2(link_set_enabled, RID, p_link, bool, p_enabled) {
	NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND(link == nullptr);

	link->set_enabled(p_enabled);
}

bool GodotNavigationServer::link_get_enabled(RID p_link) const {
	const NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND_V(link == nullptr, false);

	return link->get_enabled();
}

COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional) {
	NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND(link == nullptr);

	link->set_bidirectional(p_bidirectional);
}

bool GodotNavigationServer::link_is_bidirectional(RID p_link) const {
	const NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND_V(link == nullptr, false);

	return link->is_bidirectional();
}

COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers) {
	NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND(link == nullptr);

	link->set_navigation_layers(p_navigation_layers);
}

uint32_t GodotNavigationServer::link_get_navigation_layers(const RID p_link) const {
	const NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND_V(link == nullptr, 0);

	return link->get_navigation_layers();
}

COMMAND_2(link_set_start_position, RID, p_link, Vector3, p_position) {
	NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND(link == nullptr);

	link->set_start_position(p_position);
}

Vector3 GodotNavigationServer::link_get_start_position(RID p_link) const {
	const NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND_V(link == nullptr, Vector3());

	return link->get_start_position();
}

COMMAND_2(link_set_end_position, RID, p_link, Vector3, p_position) {
	NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND(link == nullptr);

	link->set_end_position(p_position);
}

Vector3 GodotNavigationServer::link_get_end_position(RID p_link) const {
	const NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND_V(link == nullptr, Vector3());

	return link->get_end_position();
}

COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost) {
	NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND(link == nullptr);

	link->set_enter_cost(p_enter_cost);
}

real_t GodotNavigationServer::link_get_enter_cost(const RID p_link) const {
	const NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND_V(link == nullptr, 0);

	return link->get_enter_cost();
}

COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost) {
	NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND(link == nullptr);

	link->set_travel_cost(p_travel_cost);
}

real_t GodotNavigationServer::link_get_travel_cost(const RID p_link) const {
	const NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND_V(link == nullptr, 0);

	return link->get_travel_cost();
}

COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id) {
	NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND(link == nullptr);

	link->set_owner_id(p_owner_id);
}

ObjectID GodotNavigationServer::link_get_owner_id(RID p_link) const {
	const NavLink *link = link_owner.get_or_null(p_link);
	ERR_FAIL_COND_V(link == nullptr, ObjectID());

	return link->get_owner_id();
}

RID GodotNavigationServer::agent_create() {
	MutexLock lock(operations_mutex);

	RID rid = agent_owner.make_rid();
	NavAgent *agent = agent_owner.get_or_null(rid);
	agent->set_self(rid);
	return rid;
}

COMMAND_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_avoidance_enabled(p_enabled);
}

bool GodotNavigationServer::agent_get_avoidance_enabled(RID p_agent) const {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND_V(agent == nullptr, false);

	return agent->is_avoidance_enabled();
}

COMMAND_2(agent_set_use_3d_avoidance, RID, p_agent, bool, p_enabled) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_use_3d_avoidance(p_enabled);
}

bool GodotNavigationServer::agent_get_use_3d_avoidance(RID p_agent) const {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND_V(agent == nullptr, false);

	return agent->get_use_3d_avoidance();
}

COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	NavMap *map = map_owner.get_or_null(p_map);

	agent->set_map(map);
}

COMMAND_2(agent_set_paused, RID, p_agent, bool, p_paused) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_paused(p_paused);
}

bool GodotNavigationServer::agent_get_paused(RID p_agent) const {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND_V(agent == nullptr, false);

	return agent->get_paused();
}

COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_neighbor_distance(p_distance);
}

COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_max_neighbors(p_count);
}

COMMAND_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon) {
	ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion must be positive.");
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_time_horizon_agents(p_time_horizon);
}

COMMAND_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon) {
	ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion must be positive.");
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_time_horizon_obstacles(p_time_horizon);
}

COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) {
	ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_radius(p_radius);
}

COMMAND_2(agent_set_height, RID, p_agent, real_t, p_height) {
	ERR_FAIL_COND_MSG(p_height < 0.0, "Height must be positive.");
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_height(p_height);
}

COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) {
	ERR_FAIL_COND_MSG(p_max_speed < 0.0, "Max speed must be positive.");
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_max_speed(p_max_speed);
}

COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_velocity(p_velocity);
}

COMMAND_2(agent_set_velocity_forced, RID, p_agent, Vector3, p_velocity) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_velocity_forced(p_velocity);
}

COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_position(p_position);
}

bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND_V(agent == nullptr, false);

	return agent->is_map_changed();
}

COMMAND_2(agent_set_avoidance_callback, RID, p_agent, Callable, p_callback) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);

	agent->set_avoidance_callback(p_callback);

	if (agent->get_map()) {
		if (p_callback.is_valid()) {
			agent->get_map()->set_agent_as_controlled(agent);
		} else {
			agent->get_map()->remove_agent_as_controlled(agent);
		}
	}
}

COMMAND_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);
	agent->set_avoidance_layers(p_layers);
}

COMMAND_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask) {
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);
	agent->set_avoidance_mask(p_mask);
}

COMMAND_2(agent_set_avoidance_priority, RID, p_agent, 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.");
	NavAgent *agent = agent_owner.get_or_null(p_agent);
	ERR_FAIL_COND(agent == nullptr);
	agent->set_avoidance_priority(p_priority);
}

RID GodotNavigationServer::obstacle_create() {
	MutexLock lock(operations_mutex);

	RID rid = obstacle_owner.make_rid();
	NavObstacle *obstacle = obstacle_owner.get_or_null(rid);
	obstacle->set_self(rid);

	RID agent_rid = agent_owner.make_rid();
	NavAgent *agent = agent_owner.get_or_null(agent_rid);
	agent->set_self(agent_rid);

	obstacle->set_agent(agent);

	return rid;
}

COMMAND_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled) {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND(obstacle == nullptr);

	obstacle->set_avoidance_enabled(p_enabled);
}

bool GodotNavigationServer::obstacle_get_avoidance_enabled(RID p_obstacle) const {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND_V(obstacle == nullptr, false);

	return obstacle->is_avoidance_enabled();
}

COMMAND_2(obstacle_set_use_3d_avoidance, RID, p_obstacle, bool, p_enabled) {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND(obstacle == nullptr);

	obstacle->set_use_3d_avoidance(p_enabled);
}

bool GodotNavigationServer::obstacle_get_use_3d_avoidance(RID p_obstacle) const {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND_V(obstacle == nullptr, false);

	return obstacle->get_use_3d_avoidance();
}

COMMAND_2(obstacle_set_map, RID, p_obstacle, RID, p_map) {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND(obstacle == nullptr);

	NavMap *map = map_owner.get_or_null(p_map);

	obstacle->set_map(map);
}

RID GodotNavigationServer::obstacle_get_map(RID p_obstacle) const {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND_V(obstacle == nullptr, RID());
	if (obstacle->get_map()) {
		return obstacle->get_map()->get_self();
	}
	return RID();
}

COMMAND_2(obstacle_set_paused, RID, p_obstacle, bool, p_paused) {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND(obstacle == nullptr);

	obstacle->set_paused(p_paused);
}

bool GodotNavigationServer::obstacle_get_paused(RID p_obstacle) const {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND_V(obstacle == nullptr, false);

	return obstacle->get_paused();
}

COMMAND_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius) {
	ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND(obstacle == nullptr);

	obstacle->set_radius(p_radius);
}

COMMAND_2(obstacle_set_height, RID, p_obstacle, real_t, p_height) {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND(obstacle == nullptr);
	obstacle->set_height(p_height);
}

COMMAND_2(obstacle_set_velocity, RID, p_obstacle, Vector3, p_velocity) {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND(obstacle == nullptr);

	obstacle->set_velocity(p_velocity);
}

COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector3, p_position) {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND(obstacle == nullptr);
	obstacle->set_position(p_position);
}

void GodotNavigationServer::obstacle_set_vertices(RID p_obstacle, const Vector<Vector3> &p_vertices) {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND(obstacle == nullptr);
	obstacle->set_vertices(p_vertices);
}

COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers) {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
	ERR_FAIL_COND(obstacle == nullptr);
	obstacle->set_avoidance_layers(p_layers);
}

void GodotNavigationServer::parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
#ifndef _3D_DISABLED
	NavigationMeshGenerator::get_singleton()->parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node, p_callback);
#endif
}

void GodotNavigationServer::bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback) {
#ifndef _3D_DISABLED
	NavigationMeshGenerator::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
#endif
}

COMMAND_1(free, RID, p_object) {
	if (map_owner.owns(p_object)) {
		NavMap *map = map_owner.get_or_null(p_object);

		// Removes any assigned region
		for (NavRegion *region : map->get_regions()) {
			map->remove_region(region);
			region->set_map(nullptr);
		}

		// Removes any assigned links
		for (NavLink *link : map->get_links()) {
			map->remove_link(link);
			link->set_map(nullptr);
		}

		// Remove any assigned agent
		for (NavAgent *agent : map->get_agents()) {
			map->remove_agent(agent);
			agent->set_map(nullptr);
		}

		// Remove any assigned obstacles
		for (NavObstacle *obstacle : map->get_obstacles()) {
			map->remove_obstacle(obstacle);
			obstacle->set_map(nullptr);
		}

		int map_index = active_maps.find(map);
		if (map_index >= 0) {
			active_maps.remove_at(map_index);
			active_maps_update_id.remove_at(map_index);
		}
		map_owner.free(p_object);

	} else if (region_owner.owns(p_object)) {
		NavRegion *region = region_owner.get_or_null(p_object);

		// Removes this region from the map if assigned
		if (region->get_map() != nullptr) {
			region->get_map()->remove_region(region);
			region->set_map(nullptr);
		}

		region_owner.free(p_object);

	} else if (link_owner.owns(p_object)) {
		NavLink *link = link_owner.get_or_null(p_object);

		// Removes this link from the map if assigned
		if (link->get_map() != nullptr) {
			link->get_map()->remove_link(link);
			link->set_map(nullptr);
		}

		link_owner.free(p_object);

	} else if (agent_owner.owns(p_object)) {
		internal_free_agent(p_object);

	} else if (obstacle_owner.owns(p_object)) {
		internal_free_obstacle(p_object);

	} else {
		ERR_PRINT("Attempted to free a NavigationServer RID that did not exist (or was already freed).");
	}
}

void GodotNavigationServer::internal_free_agent(RID p_object) {
	NavAgent *agent = agent_owner.get_or_null(p_object);
	if (agent) {
		if (agent->get_map() != nullptr) {
			agent->get_map()->remove_agent(agent);
			agent->set_map(nullptr);
		}
		agent_owner.free(p_object);
	}
}

void GodotNavigationServer::internal_free_obstacle(RID p_object) {
	NavObstacle *obstacle = obstacle_owner.get_or_null(p_object);
	if (obstacle) {
		NavAgent *obstacle_agent = obstacle->get_agent();
		if (obstacle_agent) {
			RID _agent_rid = obstacle_agent->get_self();
			internal_free_agent(_agent_rid);
			obstacle->set_agent(nullptr);
		}
		if (obstacle->get_map() != nullptr) {
			obstacle->get_map()->remove_obstacle(obstacle);
			obstacle->set_map(nullptr);
		}
		obstacle_owner.free(p_object);
	}
}

void GodotNavigationServer::set_active(bool p_active) {
	MutexLock lock(operations_mutex);

	active = p_active;
}

void GodotNavigationServer::flush_queries() {
	// In c++ we can't be sure that this is performed in the main thread
	// even with mutable functions.
	MutexLock lock(commands_mutex);
	MutexLock lock2(operations_mutex);

	for (SetCommand *command : commands) {
		command->exec(this);
		memdelete(command);
	}
	commands.clear();
}

void GodotNavigationServer::map_force_update(RID p_map) {
	NavMap *map = map_owner.get_or_null(p_map);
	ERR_FAIL_COND(map == nullptr);

	flush_queries();

	map->sync();
}

void GodotNavigationServer::process(real_t p_delta_time) {
	flush_queries();

	if (!active) {
		return;
	}

	int _new_pm_region_count = 0;
	int _new_pm_agent_count = 0;
	int _new_pm_link_count = 0;
	int _new_pm_polygon_count = 0;
	int _new_pm_edge_count = 0;
	int _new_pm_edge_merge_count = 0;
	int _new_pm_edge_connection_count = 0;
	int _new_pm_edge_free_count = 0;

	// In c++ we can't be sure that this is performed in the main thread
	// even with mutable functions.
	MutexLock lock(operations_mutex);
	for (uint32_t i(0); i < active_maps.size(); i++) {
		active_maps[i]->sync();
		active_maps[i]->step(p_delta_time);
		active_maps[i]->dispatch_callbacks();

		_new_pm_region_count += active_maps[i]->get_pm_region_count();
		_new_pm_agent_count += active_maps[i]->get_pm_agent_count();
		_new_pm_link_count += active_maps[i]->get_pm_link_count();
		_new_pm_polygon_count += active_maps[i]->get_pm_polygon_count();
		_new_pm_edge_count += active_maps[i]->get_pm_edge_count();
		_new_pm_edge_merge_count += active_maps[i]->get_pm_edge_merge_count();
		_new_pm_edge_connection_count += active_maps[i]->get_pm_edge_connection_count();
		_new_pm_edge_free_count += active_maps[i]->get_pm_edge_free_count();

		// Emit a signal if a map changed.
		const uint32_t new_map_update_id = active_maps[i]->get_map_update_id();
		if (new_map_update_id != active_maps_update_id[i]) {
			emit_signal(SNAME("map_changed"), active_maps[i]->get_self());
			active_maps_update_id[i] = new_map_update_id;
		}
	}

	pm_region_count = _new_pm_region_count;
	pm_agent_count = _new_pm_agent_count;
	pm_link_count = _new_pm_link_count;
	pm_polygon_count = _new_pm_polygon_count;
	pm_edge_count = _new_pm_edge_count;
	pm_edge_merge_count = _new_pm_edge_merge_count;
	pm_edge_connection_count = _new_pm_edge_connection_count;
	pm_edge_free_count = _new_pm_edge_free_count;
}

PathQueryResult GodotNavigationServer::_query_path(const PathQueryParameters &p_parameters) const {
	PathQueryResult r_query_result;

	const NavMap *map = map_owner.get_or_null(p_parameters.map);
	ERR_FAIL_COND_V(map == nullptr, r_query_result);

	// run the pathfinding

	if (p_parameters.pathfinding_algorithm == PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) {
		// while postprocessing is still part of map.get_path() need to check and route it here for the correct "optimize" post-processing
		if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) {
			r_query_result.path = map->get_path(
					p_parameters.start_position,
					p_parameters.target_position,
					true,
					p_parameters.navigation_layers,
					p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES) ? &r_query_result.path_types : nullptr,
					p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS) ? &r_query_result.path_rids : nullptr,
					p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS) ? &r_query_result.path_owner_ids : nullptr);
		} else if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) {
			r_query_result.path = map->get_path(
					p_parameters.start_position,
					p_parameters.target_position,
					false,
					p_parameters.navigation_layers,
					p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES) ? &r_query_result.path_types : nullptr,
					p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS) ? &r_query_result.path_rids : nullptr,
					p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS) ? &r_query_result.path_owner_ids : nullptr);
		}
	} else {
		return r_query_result;
	}

	// add path postprocessing

	// add path stats

	return r_query_result;
}

int GodotNavigationServer::get_process_info(ProcessInfo p_info) const {
	switch (p_info) {
		case INFO_ACTIVE_MAPS: {
			return active_maps.size();
		} break;
		case INFO_REGION_COUNT: {
			return pm_region_count;
		} break;
		case INFO_AGENT_COUNT: {
			return pm_agent_count;
		} break;
		case INFO_LINK_COUNT: {
			return pm_link_count;
		} break;
		case INFO_POLYGON_COUNT: {
			return pm_polygon_count;
		} break;
		case INFO_EDGE_COUNT: {
			return pm_edge_count;
		} break;
		case INFO_EDGE_MERGE_COUNT: {
			return pm_edge_merge_count;
		} break;
		case INFO_EDGE_CONNECTION_COUNT: {
			return pm_edge_connection_count;
		} break;
		case INFO_EDGE_FREE_COUNT: {
			return pm_edge_free_count;
		} break;
	}

	return 0;
}

#undef COMMAND_1
#undef COMMAND_2