/**************************************************************************/ /* godot_navigation_server_2d.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 */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* 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. */ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /**************************************************************************/ #include "godot_navigation_server_2d.h" #ifdef CLIPPER2_ENABLED #include "nav_mesh_generator_2d.h" #endif // CLIPPER2_ENABLED #include "servers/navigation_server_3d.h" #define FORWARD_0(FUNC_NAME) \ GodotNavigationServer2D::FUNC_NAME() { \ return NavigationServer3D::get_singleton()->FUNC_NAME(); \ } #define FORWARD_0_C(FUNC_NAME) \ GodotNavigationServer2D::FUNC_NAME() \ const { \ return NavigationServer3D::get_singleton()->FUNC_NAME(); \ } #define FORWARD_1(FUNC_NAME, T_0, D_0, CONV_0) \ GodotNavigationServer2D::FUNC_NAME(T_0 D_0) { \ return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0)); \ } #define FORWARD_1_C(FUNC_NAME, T_0, D_0, CONV_0) \ GodotNavigationServer2D::FUNC_NAME(T_0 D_0) \ const { \ return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0)); \ } #define FORWARD_1_R_C(CONV_R, FUNC_NAME, T_0, D_0, CONV_0) \ GodotNavigationServer2D::FUNC_NAME(T_0 D_0) \ const { \ return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0))); \ } #define FORWARD_2(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1) { \ return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \ } #define FORWARD_2_C(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1) \ const { \ return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \ } #define FORWARD_2_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1) \ const { \ return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1))); \ } #define FORWARD_5_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, T_4, D_4, CONV_0, CONV_1, CONV_2, CONV_3, CONV_4) \ GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3, T_4 D_4) \ const { \ return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3), CONV_4(D_4))); \ } static RID rid_to_rid(const RID d) { return d; } static bool bool_to_bool(const bool d) { return d; } static int int_to_int(const int d) { return d; } static uint32_t uint32_to_uint32(const uint32_t d) { return d; } static real_t real_to_real(const real_t d) { return d; } static Vector3 v2_to_v3(const Vector2 d) { return Vector3(d.x, 0.0, d.y); } static Vector2 v3_to_v2(const Vector3 &d) { return Vector2(d.x, d.z); } static Vector vector_v2_to_v3(const Vector &d) { Vector nd; nd.resize(d.size()); for (int i(0); i < nd.size(); i++) { nd.write[i] = v2_to_v3(d[i]); } return nd; } static Vector vector_v3_to_v2(const Vector &d) { Vector nd; nd.resize(d.size()); for (int i(0); i < nd.size(); i++) { nd.write[i] = v3_to_v2(d[i]); } return nd; } static Transform3D trf2_to_trf3(const Transform2D &d) { Vector3 o(v2_to_v3(d.get_origin())); Basis b; b.rotate(Vector3(0, -1, 0), d.get_rotation()); b.scale(v2_to_v3(d.get_scale())); return Transform3D(b, o); } static Transform2D trf3_to_trf2(const Transform3D &d) { Vector3 o = d.get_origin(); Vector3 nx = d.xform(Vector3(1, 0, 0)) - o; Vector3 nz = d.xform(Vector3(0, 0, 1)) - o; return Transform2D(nx.x, nx.z, nz.x, nz.z, o.x, o.z); } static ObjectID id_to_id(const ObjectID &id) { return id; } static Callable callable_to_callable(const Callable &c) { return c; } static Ref poly_to_mesh(Ref d) { if (d.is_valid()) { return d->get_navigation_mesh(); } else { return Ref(); } } void GodotNavigationServer2D::init() { #ifdef CLIPPER2_ENABLED navmesh_generator_2d = memnew(NavMeshGenerator2D); ERR_FAIL_NULL_MSG(navmesh_generator_2d, "Failed to init NavMeshGenerator2D."); #endif // CLIPPER2_ENABLED } void GodotNavigationServer2D::sync() { #ifdef CLIPPER2_ENABLED if (navmesh_generator_2d) { navmesh_generator_2d->sync(); } #endif // CLIPPER2_ENABLED } void GodotNavigationServer2D::finish() { #ifdef CLIPPER2_ENABLED if (navmesh_generator_2d) { navmesh_generator_2d->finish(); memdelete(navmesh_generator_2d); navmesh_generator_2d = nullptr; } #endif // CLIPPER2_ENABLED } void GodotNavigationServer2D::parse_source_geometry_data(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, Node *p_root_node, const Callable &p_callback) { ERR_FAIL_COND_MSG(!Thread::is_main_thread(), "The SceneTree can only be parsed on the main thread. Call this function from the main thread or use call_deferred()."); ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation polygon."); ERR_FAIL_NULL_MSG(p_root_node, "No parsing root node specified."); ERR_FAIL_COND_MSG(!p_root_node->is_inside_tree(), "The root node needs to be inside the SceneTree."); #ifdef CLIPPER2_ENABLED ERR_FAIL_NULL(NavMeshGenerator2D::get_singleton()); NavMeshGenerator2D::get_singleton()->parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node, p_callback); #endif // CLIPPER2_ENABLED } void GodotNavigationServer2D::bake_from_source_geometry_data(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, const Callable &p_callback) { ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation polygon."); ERR_FAIL_COND_MSG(!p_source_geometry_data.is_valid(), "Invalid NavigationMeshSourceGeometryData2D."); #ifdef CLIPPER2_ENABLED ERR_FAIL_NULL(NavMeshGenerator2D::get_singleton()); NavMeshGenerator2D::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback); #endif // CLIPPER2_ENABLED } void GodotNavigationServer2D::bake_from_source_geometry_data_async(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, const Callable &p_callback) { ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh."); ERR_FAIL_COND_MSG(!p_source_geometry_data.is_valid(), "Invalid NavigationMeshSourceGeometryData2D."); #ifdef CLIPPER2_ENABLED ERR_FAIL_NULL(NavMeshGenerator2D::get_singleton()); NavMeshGenerator2D::get_singleton()->bake_from_source_geometry_data_async(p_navigation_mesh, p_source_geometry_data, p_callback); #endif // CLIPPER2_ENABLED } GodotNavigationServer2D::GodotNavigationServer2D() {} GodotNavigationServer2D::~GodotNavigationServer2D() {} TypedArray FORWARD_0_C(get_maps); TypedArray FORWARD_1_C(map_get_links, RID, p_map, rid_to_rid); TypedArray FORWARD_1_C(map_get_regions, RID, p_map, rid_to_rid); TypedArray FORWARD_1_C(map_get_agents, RID, p_map, rid_to_rid); TypedArray FORWARD_1_C(map_get_obstacles, RID, p_map, rid_to_rid); RID FORWARD_1_C(region_get_map, RID, p_region, rid_to_rid); RID FORWARD_1_C(agent_get_map, RID, p_agent, rid_to_rid); RID FORWARD_0(map_create); void FORWARD_2(map_set_active, RID, p_map, bool, p_active, rid_to_rid, bool_to_bool); bool FORWARD_1_C(map_is_active, RID, p_map, rid_to_rid); void GodotNavigationServer2D::map_force_update(RID p_map) { NavigationServer3D::get_singleton()->map_force_update(p_map); } void FORWARD_2(map_set_cell_size, RID, p_map, real_t, p_cell_size, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_cell_size, RID, p_map, rid_to_rid); void FORWARD_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(map_get_use_edge_connections, RID, p_map, rid_to_rid); void FORWARD_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_edge_connection_margin, RID, p_map, rid_to_rid); void FORWARD_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_link_connection_radius, RID, p_map, rid_to_rid); Vector FORWARD_5_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2, p_origin, Vector2, p_destination, bool, p_optimize, uint32_t, p_layers, rid_to_rid, v2_to_v3, v2_to_v3, bool_to_bool, uint32_to_uint32); Vector2 FORWARD_2_R_C(v3_to_v2, map_get_closest_point, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); RID FORWARD_2_C(map_get_closest_point_owner, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); Vector2 GodotNavigationServer2D::map_get_random_point(RID p_map, uint32_t p_naviation_layers, bool p_uniformly) const { Vector3 result = NavigationServer3D::get_singleton()->map_get_random_point(p_map, p_naviation_layers, p_uniformly); return v3_to_v2(result); } RID FORWARD_0(region_create); void FORWARD_2(region_set_enabled, RID, p_region, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(region_get_enabled, RID, p_region, rid_to_rid); void FORWARD_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(region_get_use_edge_connections, RID, p_region, rid_to_rid); void FORWARD_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(region_get_enter_cost, RID, p_region, rid_to_rid); void FORWARD_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(region_get_travel_cost, RID, p_region, rid_to_rid); void FORWARD_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id, rid_to_rid, id_to_id); ObjectID FORWARD_1_C(region_get_owner_id, RID, p_region, rid_to_rid); bool FORWARD_2_C(region_owns_point, RID, p_region, const Vector2 &, p_point, rid_to_rid, v2_to_v3); void FORWARD_2(region_set_map, RID, p_region, RID, p_map, rid_to_rid, rid_to_rid); void FORWARD_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); uint32_t FORWARD_1_C(region_get_navigation_layers, RID, p_region, rid_to_rid); void FORWARD_2(region_set_transform, RID, p_region, Transform2D, p_transform, rid_to_rid, trf2_to_trf3); Transform2D GodotNavigationServer2D::region_get_transform(RID p_region) const { return trf3_to_trf2(NavigationServer3D::get_singleton()->region_get_transform(p_region)); } void GodotNavigationServer2D::region_set_navigation_polygon(RID p_region, Ref p_navigation_polygon) { NavigationServer3D::get_singleton()->region_set_navigation_mesh(p_region, poly_to_mesh(p_navigation_polygon)); } int FORWARD_1_C(region_get_connections_count, RID, p_region, rid_to_rid); Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_start, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_end, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); Vector2 GodotNavigationServer2D::region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const { Vector3 result = NavigationServer3D::get_singleton()->region_get_random_point(p_region, p_navigation_layers, p_uniformly); return v3_to_v2(result); } RID FORWARD_0(link_create); void FORWARD_2(link_set_map, RID, p_link, RID, p_map, rid_to_rid, rid_to_rid); RID FORWARD_1_C(link_get_map, RID, p_link, rid_to_rid); void FORWARD_2(link_set_enabled, RID, p_link, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(link_get_enabled, RID, p_link, rid_to_rid); void FORWARD_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional, rid_to_rid, bool_to_bool); bool FORWARD_1_C(link_is_bidirectional, RID, p_link, rid_to_rid); void FORWARD_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); uint32_t FORWARD_1_C(link_get_navigation_layers, RID, p_link, rid_to_rid); void FORWARD_2(link_set_start_position, RID, p_link, Vector2, p_position, rid_to_rid, v2_to_v3); Vector2 FORWARD_1_R_C(v3_to_v2, link_get_start_position, RID, p_link, rid_to_rid); void FORWARD_2(link_set_end_position, RID, p_link, Vector2, p_position, rid_to_rid, v2_to_v3); Vector2 FORWARD_1_R_C(v3_to_v2, link_get_end_position, RID, p_link, rid_to_rid); void FORWARD_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(link_get_enter_cost, RID, p_link, rid_to_rid); void FORWARD_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(link_get_travel_cost, RID, p_link, rid_to_rid); void FORWARD_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id, rid_to_rid, id_to_id); ObjectID FORWARD_1_C(link_get_owner_id, RID, p_link, rid_to_rid); RID GodotNavigationServer2D::agent_create() { RID agent = NavigationServer3D::get_singleton()->agent_create(); return agent; } void FORWARD_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(agent_get_avoidance_enabled, RID, p_agent, rid_to_rid); void FORWARD_2(agent_set_map, RID, p_agent, RID, p_map, rid_to_rid, rid_to_rid); void FORWARD_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_dist, rid_to_rid, real_to_real); real_t GodotNavigationServer2D::agent_get_neighbor_distance(RID p_agent) const { return NavigationServer3D::get_singleton()->agent_get_neighbor_distance(p_agent); } void FORWARD_2(agent_set_max_neighbors, RID, p_agent, int, p_count, rid_to_rid, int_to_int); int GodotNavigationServer2D::agent_get_max_neighbors(RID p_agent) const { return NavigationServer3D::get_singleton()->agent_get_max_neighbors(p_agent); } void FORWARD_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon, rid_to_rid, real_to_real); real_t GodotNavigationServer2D::agent_get_time_horizon_agents(RID p_agent) const { return NavigationServer3D::get_singleton()->agent_get_time_horizon_agents(p_agent); } void FORWARD_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon, rid_to_rid, real_to_real); real_t GodotNavigationServer2D::agent_get_time_horizon_obstacles(RID p_agent) const { return NavigationServer3D::get_singleton()->agent_get_time_horizon_obstacles(p_agent); } void FORWARD_2(agent_set_radius, RID, p_agent, real_t, p_radius, rid_to_rid, real_to_real); real_t GodotNavigationServer2D::agent_get_radius(RID p_agent) const { return NavigationServer3D::get_singleton()->agent_get_radius(p_agent); } void FORWARD_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed, rid_to_rid, real_to_real); real_t GodotNavigationServer2D::agent_get_max_speed(RID p_agent) const { return NavigationServer3D::get_singleton()->agent_get_max_speed(p_agent); } void FORWARD_2(agent_set_velocity_forced, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3); void FORWARD_2(agent_set_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3); Vector2 GodotNavigationServer2D::agent_get_velocity(RID p_agent) const { return v3_to_v2(NavigationServer3D::get_singleton()->agent_get_velocity(p_agent)); } void FORWARD_2(agent_set_position, RID, p_agent, Vector2, p_position, rid_to_rid, v2_to_v3); Vector2 GodotNavigationServer2D::agent_get_position(RID p_agent) const { return v3_to_v2(NavigationServer3D::get_singleton()->agent_get_position(p_agent)); } bool FORWARD_1_C(agent_is_map_changed, RID, p_agent, rid_to_rid); void FORWARD_2(agent_set_paused, RID, p_agent, bool, p_paused, rid_to_rid, bool_to_bool); bool FORWARD_1_C(agent_get_paused, RID, p_agent, rid_to_rid); void FORWARD_1(free, RID, p_object, rid_to_rid); void FORWARD_2(agent_set_avoidance_callback, RID, p_agent, Callable, p_callback, rid_to_rid, callable_to_callable); bool GodotNavigationServer2D::agent_has_avoidance_callback(RID p_agent) const { return NavigationServer3D::get_singleton()->agent_has_avoidance_callback(p_agent); } void FORWARD_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers, rid_to_rid, uint32_to_uint32); uint32_t GodotNavigationServer2D::agent_get_avoidance_layers(RID p_agent) const { return NavigationServer3D::get_singleton()->agent_get_avoidance_layers(p_agent); } void FORWARD_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask, rid_to_rid, uint32_to_uint32); uint32_t GodotNavigationServer2D::agent_get_avoidance_mask(RID p_agent) const { return NavigationServer3D::get_singleton()->agent_get_avoidance_mask(p_agent); } void FORWARD_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority, rid_to_rid, real_to_real); real_t GodotNavigationServer2D::agent_get_avoidance_priority(RID p_agent) const { return NavigationServer3D::get_singleton()->agent_get_avoidance_priority(p_agent); } RID GodotNavigationServer2D::obstacle_create() { RID obstacle = NavigationServer3D::get_singleton()->obstacle_create(); return obstacle; } void FORWARD_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(obstacle_get_avoidance_enabled, RID, p_obstacle, rid_to_rid); void FORWARD_2(obstacle_set_map, RID, p_obstacle, RID, p_map, rid_to_rid, rid_to_rid); RID FORWARD_1_C(obstacle_get_map, RID, p_obstacle, rid_to_rid); void FORWARD_2(obstacle_set_paused, RID, p_obstacle, bool, p_paused, rid_to_rid, bool_to_bool); bool FORWARD_1_C(obstacle_get_paused, RID, p_obstacle, rid_to_rid); void FORWARD_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius, rid_to_rid, real_to_real); real_t GodotNavigationServer2D::obstacle_get_radius(RID p_obstacle) const { return NavigationServer3D::get_singleton()->obstacle_get_radius(p_obstacle); } void FORWARD_2(obstacle_set_velocity, RID, p_obstacle, Vector2, p_velocity, rid_to_rid, v2_to_v3); Vector2 GodotNavigationServer2D::obstacle_get_velocity(RID p_obstacle) const { return v3_to_v2(NavigationServer3D::get_singleton()->obstacle_get_velocity(p_obstacle)); } void FORWARD_2(obstacle_set_position, RID, p_obstacle, Vector2, p_position, rid_to_rid, v2_to_v3); Vector2 GodotNavigationServer2D::obstacle_get_position(RID p_obstacle) const { return v3_to_v2(NavigationServer3D::get_singleton()->obstacle_get_position(p_obstacle)); } void FORWARD_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers, rid_to_rid, uint32_to_uint32); uint32_t GodotNavigationServer2D::obstacle_get_avoidance_layers(RID p_obstacle) const { return NavigationServer3D::get_singleton()->obstacle_get_avoidance_layers(p_obstacle); } void GodotNavigationServer2D::obstacle_set_vertices(RID p_obstacle, const Vector &p_vertices) { NavigationServer3D::get_singleton()->obstacle_set_vertices(p_obstacle, vector_v2_to_v3(p_vertices)); } Vector GodotNavigationServer2D::obstacle_get_vertices(RID p_obstacle) const { return vector_v3_to_v2(NavigationServer3D::get_singleton()->obstacle_get_vertices(p_obstacle)); } void GodotNavigationServer2D::query_path(const Ref &p_query_parameters, Ref p_query_result) const { ERR_FAIL_COND(!p_query_parameters.is_valid()); ERR_FAIL_COND(!p_query_result.is_valid()); const NavigationUtilities::PathQueryResult _query_result = NavigationServer3D::get_singleton()->_query_path(p_query_parameters->get_parameters()); p_query_result->set_path(vector_v3_to_v2(_query_result.path)); p_query_result->set_path_types(_query_result.path_types); p_query_result->set_path_rids(_query_result.path_rids); p_query_result->set_path_owner_ids(_query_result.path_owner_ids); }