Merge pull request #71543 from smix8/navigation_agent_debug_4.x

Add NavigationAgent Path Debug Visualization

doc/classes/NavigationAgent2D.xml

@@ -111,6 +111,21 @@
 		<member name="avoidance_enabled" type="bool" setter="set_avoidance_enabled" getter="get_avoidance_enabled" default="false">
 			If [code]true[/code] the agent is registered for an RVO avoidance callback on the [NavigationServer2D]. When [method NavigationAgent2D.set_velocity] is used and the processing is completed a [code]safe_velocity[/code] Vector2 is received with a signal connection to [signal velocity_computed]. Avoidance processing with many registered agents has a significant performance cost and should only be enabled on agents that currently require it.
 		</member>
+		<member name="debug_enabled" type="bool" setter="set_debug_enabled" getter="get_debug_enabled" default="false">
+			If [code]true[/code] shows debug visuals for this agent.
+		</member>
+		<member name="debug_path_custom_color" type="Color" setter="set_debug_path_custom_color" getter="get_debug_path_custom_color" default="Color(1, 1, 1, 1)">
+			If [member debug_use_custom] is [code]true[/code] uses this color for this agent instead of global color.
+		</member>
+		<member name="debug_path_custom_line_width" type="float" setter="set_debug_path_custom_line_width" getter="get_debug_path_custom_line_width" default="1.0">
+			If [member debug_use_custom] is [code]true[/code] uses this line width for rendering paths for this agent instead of global line width.
+		</member>
+		<member name="debug_path_custom_point_size" type="float" setter="set_debug_path_custom_point_size" getter="get_debug_path_custom_point_size" default="4.0">
+			If [member debug_use_custom] is [code]true[/code] uses this rasterized point size for rendering path points for this agent instead of global point size.
+		</member>
+		<member name="debug_use_custom" type="bool" setter="set_debug_use_custom" getter="get_debug_use_custom" default="false">
+			If [code]true[/code] uses the defined [member debug_path_custom_color] for this agent instead of global color.
+		</member>
 		<member name="max_neighbors" type="int" setter="set_max_neighbors" getter="get_max_neighbors" default="10">
 			The maximum number of neighbors for the agent to consider.
 		</member>

doc/classes/NavigationAgent3D.xml

@@ -114,6 +114,18 @@
 		<member name="avoidance_enabled" type="bool" setter="set_avoidance_enabled" getter="get_avoidance_enabled" default="false">
 			If [code]true[/code] the agent is registered for an RVO avoidance callback on the [NavigationServer3D]. When [method NavigationAgent3D.set_velocity] is used and the processing is completed a [code]safe_velocity[/code] Vector3 is received with a signal connection to [signal velocity_computed]. Avoidance processing with many registered agents has a significant performance cost and should only be enabled on agents that currently require it.
 		</member>
+		<member name="debug_enabled" type="bool" setter="set_debug_enabled" getter="get_debug_enabled" default="false">
+			If [code]true[/code] shows debug visuals for this agent.
+		</member>
+		<member name="debug_path_custom_color" type="Color" setter="set_debug_path_custom_color" getter="get_debug_path_custom_color" default="Color(1, 1, 1, 1)">
+			If [member debug_use_custom] is [code]true[/code] uses this color for this agent instead of global color.
+		</member>
+		<member name="debug_path_custom_point_size" type="float" setter="set_debug_path_custom_point_size" getter="get_debug_path_custom_point_size" default="4.0">
+			If [member debug_use_custom] is [code]true[/code] uses this rasterized point size for rendering path points for this agent instead of global point size.
+		</member>
+		<member name="debug_use_custom" type="bool" setter="set_debug_use_custom" getter="get_debug_use_custom" default="false">
+			If [code]true[/code] uses the defined [member debug_path_custom_color] for this agent instead of global color.
+		</member>
 		<member name="ignore_y" type="bool" setter="set_ignore_y" getter="get_ignore_y" default="true">
 			Ignores collisions on the Y axis. Must be true to move on a horizontal plane.
 		</member>

doc/classes/NavigationServer2D.xml

@@ -528,5 +528,10 @@
 				Emitted when a navigation map is updated, when a region moves or is modified.
 			</description>
 		</signal>
+		<signal name="navigation_debug_changed">
+			<description>
+				Emitted when navigation debug settings are changed. Only available in debug builds.
+			</description>
+		</signal>
 	</signals>
 </class>

doc/classes/ProjectSettings.xml

@@ -528,9 +528,21 @@
 		<member name="debug/shapes/collision/shape_color" type="Color" setter="" getter="" default="Color(0, 0.6, 0.7, 0.42)">
 			Color of the collision shapes, visible when "Visible Collision Shapes" is enabled in the Debug menu.
 		</member>
+		<member name="debug/shapes/navigation/agent_path_color" type="Color" setter="" getter="" default="Color(1, 0, 0, 1)">
+			Color to display enabled navigation agent paths when an agent has debug enabled.
+		</member>
+		<member name="debug/shapes/navigation/agent_path_point_size" type="float" setter="" getter="" default="4.0">
+			Rasterized size (pixel) used to render navigation agent path points when an agent has debug enabled.
+		</member>
 		<member name="debug/shapes/navigation/edge_connection_color" type="Color" setter="" getter="" default="Color(1, 0, 1, 1)">
 			Color to display edge connections between navigation regions, visible when "Visible Navigation" is enabled in the Debug menu.
 		</member>
+		<member name="debug/shapes/navigation/enable_agent_paths" type="bool" setter="" getter="" default="true">
+			If enabled, displays navigation agent paths when an agent has debug enabled.
+		</member>
+		<member name="debug/shapes/navigation/enable_agent_paths_xray" type="bool" setter="" getter="" default="true">
+			If enabled, displays navigation agent paths through geometry when an agent has debug enabled.
+		</member>
 		<member name="debug/shapes/navigation/enable_edge_connections" type="bool" setter="" getter="" default="true">
 			If enabled, displays edge connections between navigation regions when "Visible Navigation" is enabled in the Debug menu.
 		</member>

scene/2d/navigation_agent_2d.cpp

@@ -108,6 +108,26 @@ void NavigationAgent2D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10,0.01,suffix:s"), "set_time_horizon", "get_time_horizon");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:px/s"), "set_max_speed", "get_max_speed");
 
+#ifdef DEBUG_ENABLED
+	ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent2D::set_debug_enabled);
+	ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent2D::get_debug_enabled);
+	ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent2D::set_debug_use_custom);
+	ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent2D::get_debug_use_custom);
+	ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent2D::set_debug_path_custom_color);
+	ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent2D::get_debug_path_custom_color);
+	ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent2D::set_debug_path_custom_point_size);
+	ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent2D::get_debug_path_custom_point_size);
+	ClassDB::bind_method(D_METHOD("set_debug_path_custom_line_width", "line_width"), &NavigationAgent2D::set_debug_path_custom_line_width);
+	ClassDB::bind_method(D_METHOD("get_debug_path_custom_line_width"), &NavigationAgent2D::get_debug_path_custom_line_width);
+
+	ADD_GROUP("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, "1,50,1,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_line_width", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_line_width", "get_debug_path_custom_line_width");
+#endif // DEBUG_ENABLED
+
 	ADD_SIGNAL(MethodInfo("path_changed"));
 	ADD_SIGNAL(MethodInfo("target_reached"));
 	ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
@@ -123,6 +143,12 @@ void NavigationAgent2D::_notification(int p_what) {
 			// cannot use READY as ready does not get called if Node is readded to SceneTree
 			set_agent_parent(get_parent());
 			set_physics_process_internal(true);
+
+#ifdef DEBUG_ENABLED
+			if (NavigationServer2D::get_singleton()->get_debug_enabled()) {
+				debug_path_dirty = true;
+			}
+#endif // DEBUG_ENABLED
 		} break;
 
 		case NOTIFICATION_PARENTED: {
@@ -165,6 +191,12 @@ void NavigationAgent2D::_notification(int p_what) {
 		case NOTIFICATION_EXIT_TREE: {
 			agent_parent = nullptr;
 			set_physics_process_internal(false);
+
+#ifdef DEBUG_ENABLED
+			if (debug_path_instance.is_valid()) {
+				RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, false);
+			}
+#endif // DEBUG_ENABLED
 		} break;
 
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
@@ -176,6 +208,12 @@ void NavigationAgent2D::_notification(int p_what) {
 				}
 				_check_distance_to_target();
 			}
+
+#ifdef DEBUG_ENABLED
+			if (debug_path_dirty) {
+				_update_debug_path();
+			}
+#endif // DEBUG_ENABLED
 		} break;
 	}
 }
@@ -194,12 +232,25 @@ NavigationAgent2D::NavigationAgent2D() {
 
 	navigation_result = Ref<NavigationPathQueryResult2D>();
 	navigation_result.instantiate();
+
+#ifdef DEBUG_ENABLED
+	NavigationServer2D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed));
+#endif // DEBUG_ENABLED
 }
 
 NavigationAgent2D::~NavigationAgent2D() {
 	ERR_FAIL_NULL(NavigationServer2D::get_singleton());
 	NavigationServer2D::get_singleton()->free(agent);
 	agent = RID(); // Pointless
+
+#ifdef DEBUG_ENABLED
+	NavigationServer2D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed));
+
+	ERR_FAIL_NULL(RenderingServer::get_singleton());
+	if (debug_path_instance.is_valid()) {
+		RenderingServer::get_singleton()->free(debug_path_instance);
+	}
+#endif // DEBUG_ENABLED
 }
 
 void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) {
@@ -463,6 +514,9 @@ void NavigationAgent2D::update_navigation() {
 		}
 
 		NavigationServer2D::get_singleton()->query_path(navigation_query, navigation_result);
+#ifdef DEBUG_ENABLED
+		debug_path_dirty = true;
+#endif // DEBUG_ENABLED
 		navigation_finished = false;
 		navigation_path_index = 0;
 		emit_signal(SNAME("path_changed"));
@@ -549,3 +603,111 @@ void NavigationAgent2D::_check_distance_to_target() {
 		}
 	}
 }
+
+////////DEBUG////////////////////////////////////////////////////////////
+
+#ifdef DEBUG_ENABLED
+void NavigationAgent2D::set_debug_enabled(bool p_enabled) {
+	debug_enabled = p_enabled;
+	debug_path_dirty = true;
+}
+
+bool NavigationAgent2D::get_debug_enabled() const {
+	return debug_enabled;
+}
+
+void NavigationAgent2D::set_debug_use_custom(bool p_enabled) {
+	debug_use_custom = p_enabled;
+	debug_path_dirty = true;
+}
+
+bool NavigationAgent2D::get_debug_use_custom() const {
+	return debug_use_custom;
+}
+
+void NavigationAgent2D::set_debug_path_custom_color(Color p_color) {
+	debug_path_custom_color = p_color;
+	debug_path_dirty = true;
+}
+
+Color NavigationAgent2D::get_debug_path_custom_color() const {
+	return debug_path_custom_color;
+}
+
+void NavigationAgent2D::set_debug_path_custom_point_size(float p_point_size) {
+	debug_path_custom_point_size = MAX(0.1, p_point_size);
+	debug_path_dirty = true;
+}
+
+float NavigationAgent2D::get_debug_path_custom_point_size() const {
+	return debug_path_custom_point_size;
+}
+
+void NavigationAgent2D::set_debug_path_custom_line_width(float p_line_width) {
+	debug_path_custom_line_width = p_line_width;
+	debug_path_dirty = true;
+}
+
+float NavigationAgent2D::get_debug_path_custom_line_width() const {
+	return debug_path_custom_line_width;
+}
+
+void NavigationAgent2D::_navigation_debug_changed() {
+	debug_path_dirty = true;
+}
+
+void NavigationAgent2D::_update_debug_path() {
+	if (!debug_path_dirty) {
+		return;
+	}
+	debug_path_dirty = false;
+
+	if (!debug_path_instance.is_valid()) {
+		debug_path_instance = RenderingServer::get_singleton()->canvas_item_create();
+	}
+
+	RenderingServer::get_singleton()->canvas_item_clear(debug_path_instance);
+
+	if (!(debug_enabled && NavigationServer2D::get_singleton()->get_debug_navigation_enable_agent_paths())) {
+		return;
+	}
+
+	if (!(agent_parent && agent_parent->is_inside_tree())) {
+		return;
+	}
+
+	RenderingServer::get_singleton()->canvas_item_set_parent(debug_path_instance, agent_parent->get_canvas());
+	RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, agent_parent->is_visible_in_tree());
+
+	const Vector<Vector2> &navigation_path = navigation_result->get_path();
+
+	if (navigation_path.size() <= 1) {
+		return;
+	}
+
+	Color debug_path_color = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_color();
+	if (debug_use_custom) {
+		debug_path_color = debug_path_custom_color;
+	}
+
+	Vector<Color> debug_path_colors;
+	debug_path_colors.resize(navigation_path.size());
+	debug_path_colors.fill(debug_path_color);
+
+	RenderingServer::get_singleton()->canvas_item_add_polyline(debug_path_instance, navigation_path, debug_path_colors, debug_path_custom_line_width, false);
+
+	float point_size = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_point_size();
+	float half_point_size = point_size * 0.5;
+
+	if (debug_use_custom) {
+		point_size = debug_path_custom_point_size;
+		half_point_size = debug_path_custom_point_size * 0.5;
+	}
+
+	for (int i = 0; i < navigation_path.size(); i++) {
+		const Vector2 &vert = navigation_path[i];
+		Rect2 path_point_rect = Rect2(vert.x - half_point_size, vert.y - half_point_size, point_size, point_size);
+		RenderingServer::get_singleton()->canvas_item_add_rect(debug_path_instance, path_point_rect, debug_path_color);
+	}
+}
+#endif // DEBUG_ENABLED

scene/2d/navigation_agent_2d.h

@@ -74,6 +74,20 @@ class NavigationAgent2D : public Node {
 	// No initialized on purpose
 	uint32_t update_frame_id = 0;
 
+#ifdef DEBUG_ENABLED
+	bool debug_enabled = false;
+	bool debug_path_dirty = true;
+	RID debug_path_instance;
+	float debug_path_custom_point_size = 4.0;
+	float debug_path_custom_line_width = 1.0;
+	bool debug_use_custom = false;
+	Color debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0);
+
+private:
+	void _navigation_debug_changed();
+	void _update_debug_path();
+#endif // DEBUG_ENABLED
+
 protected:
 	static void _bind_methods();
 	void _notification(int p_what);
@@ -169,6 +183,23 @@ public:
 
 	PackedStringArray get_configuration_warnings() const override;
 
+#ifdef DEBUG_ENABLED
+	void set_debug_enabled(bool p_enabled);
+	bool get_debug_enabled() const;
+
+	void set_debug_use_custom(bool p_enabled);
+	bool get_debug_use_custom() const;
+
+	void set_debug_path_custom_color(Color p_color);
+	Color get_debug_path_custom_color() const;
+
+	void set_debug_path_custom_point_size(float p_point_size);
+	float get_debug_path_custom_point_size() const;
+
+	void set_debug_path_custom_line_width(float p_line_width);
+	float get_debug_path_custom_line_width() const;
+#endif // DEBUG_ENABLED
+
 private:
 	void update_navigation();
 	void _request_repath();

scene/3d/navigation_agent_3d.cpp

@@ -120,6 +120,23 @@ void NavigationAgent3D::_bind_methods() {
 	ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details")));
 	ADD_SIGNAL(MethodInfo("navigation_finished"));
 	ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));
+
+#ifdef DEBUG_ENABLED
+	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", "");
+	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, "1,50,1,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size");
+#endif // DEBUG_ENABLED
 }
 
 void NavigationAgent3D::_notification(int p_what) {
@@ -129,6 +146,12 @@ void NavigationAgent3D::_notification(int p_what) {
 			// cannot use READY as ready does not get called if Node is readded to SceneTree
 			set_agent_parent(get_parent());
 			set_physics_process_internal(true);
+
+#ifdef DEBUG_ENABLED
+			if (NavigationServer3D::get_singleton()->get_debug_enabled()) {
+				debug_path_dirty = true;
+			}
+#endif // DEBUG_ENABLED
 		} break;
 
 		case NOTIFICATION_PARENTED: {
@@ -151,6 +174,12 @@ void NavigationAgent3D::_notification(int p_what) {
 		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_PAUSED: {
@@ -182,6 +211,11 @@ void NavigationAgent3D::_notification(int p_what) {
 				}
 				_check_distance_to_target();
 			}
+#ifdef DEBUG_ENABLED
+			if (debug_path_dirty) {
+				_update_debug_path();
+			}
+#endif // DEBUG_ENABLED
 		} break;
 	}
 }
@@ -201,12 +235,28 @@ NavigationAgent3D::NavigationAgent3D() {
 
 	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) {
@@ -480,6 +530,9 @@ void NavigationAgent3D::update_navigation() {
 		}
 
 		NavigationServer3D::get_singleton()->query_path(navigation_query, navigation_result);
+#ifdef DEBUG_ENABLED
+		debug_path_dirty = true;
+#endif // DEBUG_ENABLED
 		navigation_finished = false;
 		navigation_path_index = 0;
 		emit_signal(SNAME("path_changed"));
@@ -566,3 +619,130 @@ void NavigationAgent3D::_check_distance_to_target() {
 		}
 	}
 }
+
+////////DEBUG////////////////////////////////////////////////////////////
+
+#ifdef DEBUG_ENABLED
+void NavigationAgent3D::set_debug_enabled(bool p_enabled) {
+	debug_enabled = p_enabled;
+	debug_path_dirty = true;
+}
+
+bool NavigationAgent3D::get_debug_enabled() const {
+	return debug_enabled;
+}
+
+void NavigationAgent3D::set_debug_use_custom(bool p_enabled) {
+	debug_use_custom = p_enabled;
+	debug_path_dirty = true;
+}
+
+bool NavigationAgent3D::get_debug_use_custom() const {
+	return debug_use_custom;
+}
+
+void NavigationAgent3D::set_debug_path_custom_color(Color p_color) {
+	debug_path_custom_color = p_color;
+	debug_path_dirty = true;
+}
+
+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) {
+	debug_path_custom_point_size = p_point_size;
+	debug_path_dirty = true;
+}
+
+float NavigationAgent3D::get_debug_path_custom_point_size() const {
+	return debug_path_custom_point_size;
+}
+
+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_valid()) {
+		debug_path_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
+	}
+
+	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);
+	}
+
+	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_lines_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

scene/3d/navigation_agent_3d.h

@@ -76,6 +76,22 @@ class NavigationAgent3D : public Node {
 	// No initialized on purpose
 	uint32_t update_frame_id = 0;
 
+#ifdef DEBUG_ENABLED
+	bool debug_enabled = false;
+	bool debug_path_dirty = true;
+	RID debug_path_instance;
+	Ref<ArrayMesh> debug_path_mesh;
+	float debug_path_custom_point_size = 4.0;
+	bool debug_use_custom = false;
+	Color debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0);
+	Ref<StandardMaterial3D> debug_agent_path_line_custom_material;
+	Ref<StandardMaterial3D> debug_agent_path_point_custom_material;
+
+private:
+	void _navigation_debug_changed();
+	void _update_debug_path();
+#endif // DEBUG_ENABLED
+
 protected:
 	static void _bind_methods();
 	void _notification(int p_what);
@@ -181,6 +197,20 @@ public:
 
 	PackedStringArray get_configuration_warnings() const override;
 
+#ifdef DEBUG_ENABLED
+	void set_debug_enabled(bool p_enabled);
+	bool get_debug_enabled() const;
+
+	void set_debug_use_custom(bool p_enabled);
+	bool get_debug_use_custom() const;
+
+	void set_debug_path_custom_color(Color p_color);
+	Color get_debug_path_custom_color() const;
+
+	void set_debug_path_custom_point_size(float p_point_size);
+	float get_debug_path_custom_point_size() const;
+#endif // DEBUG_ENABLED
+
 private:
 	void update_navigation();
 	void _request_repath();

servers/navigation_server_2d.cpp

@@ -207,6 +207,30 @@ void NavigationServer2D::set_debug_navigation_enable_edge_connections(const bool
 bool NavigationServer2D::get_debug_navigation_enable_edge_connections() const {
 	return NavigationServer3D::get_singleton()->get_debug_navigation_enable_edge_connections();
 }
+
+void NavigationServer2D::set_debug_navigation_agent_path_color(const Color &p_color) {
+	NavigationServer3D::get_singleton()->set_debug_navigation_agent_path_color(p_color);
+}
+
+Color NavigationServer2D::get_debug_navigation_agent_path_color() const {
+	return NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_color();
+}
+
+void NavigationServer2D::set_debug_navigation_enable_agent_paths(const bool p_value) {
+	NavigationServer3D::get_singleton()->set_debug_navigation_enable_agent_paths(p_value);
+}
+
+bool NavigationServer2D::get_debug_navigation_enable_agent_paths() const {
+	return NavigationServer3D::get_singleton()->get_debug_navigation_enable_agent_paths();
+}
+
+void NavigationServer2D::set_debug_navigation_agent_path_point_size(float p_point_size) {
+	NavigationServer3D::get_singleton()->set_debug_navigation_agent_path_point_size(p_point_size);
+}
+
+float NavigationServer2D::get_debug_navigation_agent_path_point_size() const {
+	return NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_point_size();
+}
 #endif // DEBUG_ENABLED
 
 void NavigationServer2D::_bind_methods() {
@@ -286,14 +310,26 @@ void NavigationServer2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("free_rid", "rid"), &NavigationServer2D::free);
 
 	ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map")));
+
+	ADD_SIGNAL(MethodInfo("navigation_debug_changed"));
 }
 
 NavigationServer2D::NavigationServer2D() {
 	singleton = this;
 	ERR_FAIL_COND_MSG(!NavigationServer3D::get_singleton(), "The Navigation3D singleton should be initialized before the 2D one.");
 	NavigationServer3D::get_singleton()->connect("map_changed", callable_mp(this, &NavigationServer2D::_emit_map_changed));
+
+#ifdef DEBUG_ENABLED
+	NavigationServer3D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationServer2D::_emit_navigation_debug_changed_signal));
+#endif // DEBUG_ENABLED
 }
 
+#ifdef DEBUG_ENABLED
+void NavigationServer2D::_emit_navigation_debug_changed_signal() {
+	emit_signal(SNAME("navigation_debug_changed"));
+}
+#endif // DEBUG_ENABLED
+
 NavigationServer2D::~NavigationServer2D() {
 	singleton = nullptr;
 }

servers/navigation_server_2d.h

@@ -254,6 +254,20 @@ public:
 
 	void set_debug_navigation_enable_edge_connections(const bool p_value);
 	bool get_debug_navigation_enable_edge_connections() const;
+
+	void set_debug_navigation_agent_path_color(const Color &p_color);
+	Color get_debug_navigation_agent_path_color() const;
+
+	void set_debug_navigation_enable_agent_paths(const bool p_value);
+	bool get_debug_navigation_enable_agent_paths() const;
+
+	void set_debug_navigation_agent_path_point_size(float p_point_size);
+	float get_debug_navigation_agent_path_point_size() const;
+#endif // DEBUG_ENABLED
+
+#ifdef DEBUG_ENABLED
+private:
+	void _emit_navigation_debug_changed_signal();
 #endif // DEBUG_ENABLED
 };
 

servers/navigation_server_3d.cpp

@@ -159,6 +159,7 @@ NavigationServer3D::NavigationServer3D() {
 	debug_navigation_geometry_face_disabled_color = GLOBAL_DEF("debug/shapes/navigation/geometry_face_disabled_color", Color(0.5, 0.5, 0.5, 0.4));
 	debug_navigation_link_connection_color = GLOBAL_DEF("debug/shapes/navigation/link_connection_color", Color(1.0, 0.5, 1.0, 1.0));
 	debug_navigation_link_connection_disabled_color = GLOBAL_DEF("debug/shapes/navigation/link_connection_disabled_color", Color(0.5, 0.5, 0.5, 1.0));
+	debug_navigation_agent_path_color = GLOBAL_DEF("debug/shapes/navigation/agent_path_color", Color(1.0, 0.0, 0.0, 1.0));
 
 	debug_navigation_enable_edge_connections = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections", true);
 	debug_navigation_enable_edge_connections_xray = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections_xray", true);
@@ -168,6 +169,11 @@ NavigationServer3D::NavigationServer3D() {
 	debug_navigation_enable_link_connections = GLOBAL_DEF("debug/shapes/navigation/enable_link_connections", true);
 	debug_navigation_enable_link_connections_xray = GLOBAL_DEF("debug/shapes/navigation/enable_link_connections_xray", true);
 
+	debug_navigation_enable_agent_paths = GLOBAL_DEF("debug/shapes/navigation/enable_agent_paths", true);
+	debug_navigation_enable_agent_paths_xray = GLOBAL_DEF("debug/shapes/navigation/enable_agent_paths_xray", true);
+
+	debug_navigation_agent_path_point_size = GLOBAL_DEF("debug/shapes/navigation/agent_path_point_size", 4.0);
+
 	if (Engine::get_singleton()->is_editor_hint()) {
 		// enable NavigationServer3D when in Editor or else navigation mesh edge connections are invisible
 		// on runtime tests SceneTree has "Visible Navigation" set and main iteration takes care of this
@@ -329,6 +335,42 @@ Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_link_connection
 	return debug_navigation_link_connections_disabled_material;
 }
 
+Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_agent_path_line_material() {
+	if (debug_navigation_agent_path_line_material.is_valid()) {
+		return debug_navigation_agent_path_line_material;
+	}
+
+	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
+	material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
+	material->set_albedo(debug_navigation_agent_path_color);
+	if (debug_navigation_enable_agent_paths_xray) {
+		material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
+	}
+	material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2);
+
+	debug_navigation_agent_path_line_material = material;
+	return debug_navigation_agent_path_line_material;
+}
+
+Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_agent_path_point_material() {
+	if (debug_navigation_agent_path_point_material.is_valid()) {
+		return debug_navigation_agent_path_point_material;
+	}
+
+	Ref<StandardMaterial3D> material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
+	material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
+	material->set_albedo(debug_navigation_agent_path_color);
+	material->set_flag(StandardMaterial3D::FLAG_USE_POINT_SIZE, true);
+	material->set_point_size(debug_navigation_agent_path_point_size);
+	if (debug_navigation_enable_agent_paths_xray) {
+		material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
+	}
+	material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2);
+
+	debug_navigation_agent_path_point_material = material;
+	return debug_navigation_agent_path_point_material;
+}
+
 void NavigationServer3D::set_debug_navigation_edge_connection_color(const Color &p_color) {
 	debug_navigation_edge_connection_color = p_color;
 	if (debug_navigation_edge_connections_material.is_valid()) {
@@ -406,6 +448,31 @@ Color NavigationServer3D::get_debug_navigation_link_connection_disabled_color()
 	return debug_navigation_link_connection_disabled_color;
 }
 
+void NavigationServer3D::set_debug_navigation_agent_path_point_size(float p_point_size) {
+	debug_navigation_agent_path_point_size = MAX(0.1, p_point_size);
+	if (debug_navigation_agent_path_point_material.is_valid()) {
+		debug_navigation_agent_path_point_material->set_point_size(debug_navigation_agent_path_point_size);
+	}
+}
+
+float NavigationServer3D::get_debug_navigation_agent_path_point_size() const {
+	return debug_navigation_agent_path_point_size;
+}
+
+void NavigationServer3D::set_debug_navigation_agent_path_color(const Color &p_color) {
+	debug_navigation_agent_path_color = p_color;
+	if (debug_navigation_agent_path_line_material.is_valid()) {
+		debug_navigation_agent_path_line_material->set_albedo(debug_navigation_agent_path_color);
+	}
+	if (debug_navigation_agent_path_point_material.is_valid()) {
+		debug_navigation_agent_path_point_material->set_albedo(debug_navigation_agent_path_color);
+	}
+}
+
+Color NavigationServer3D::get_debug_navigation_agent_path_color() const {
+	return debug_navigation_agent_path_color;
+}
+
 void NavigationServer3D::set_debug_navigation_enable_edge_connections(const bool p_value) {
 	debug_navigation_enable_edge_connections = p_value;
 	debug_dirty = true;
@@ -494,6 +561,37 @@ void NavigationServer3D::set_debug_enabled(bool p_enabled) {
 bool NavigationServer3D::get_debug_enabled() const {
 	return debug_enabled;
 }
+
+void NavigationServer3D::set_debug_navigation_enable_agent_paths(const bool p_value) {
+	if (debug_navigation_enable_agent_paths != p_value) {
+		debug_dirty = true;
+	}
+
+	debug_navigation_enable_agent_paths = p_value;
+
+	if (debug_dirty) {
+		call_deferred("_emit_navigation_debug_changed_signal");
+	}
+}
+
+bool NavigationServer3D::get_debug_navigation_enable_agent_paths() const {
+	return debug_navigation_enable_agent_paths;
+}
+
+void NavigationServer3D::set_debug_navigation_enable_agent_paths_xray(const bool p_value) {
+	debug_navigation_enable_agent_paths_xray = p_value;
+	if (debug_navigation_agent_path_line_material.is_valid()) {
+		debug_navigation_agent_path_line_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_agent_paths_xray);
+	}
+	if (debug_navigation_agent_path_point_material.is_valid()) {
+		debug_navigation_agent_path_point_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_agent_paths_xray);
+	}
+}
+
+bool NavigationServer3D::get_debug_navigation_enable_agent_paths_xray() const {
+	return debug_navigation_enable_agent_paths_xray;
+}
+
 #endif // DEBUG_ENABLED
 
 ///////////////////////////////////////////////////////

servers/navigation_server_3d.h

@@ -287,6 +287,9 @@ private:
 	Color debug_navigation_geometry_face_disabled_color = Color(0.5, 0.5, 0.5, 0.4);
 	Color debug_navigation_link_connection_color = Color(1.0, 0.5, 1.0, 1.0);
 	Color debug_navigation_link_connection_disabled_color = Color(0.5, 0.5, 0.5, 1.0);
+	Color debug_navigation_agent_path_color = Color(1.0, 0.0, 0.0, 1.0);
+
+	float debug_navigation_agent_path_point_size = 4.0;
 
 	bool debug_navigation_enable_edge_connections = true;
 	bool debug_navigation_enable_edge_connections_xray = true;
@@ -295,6 +298,8 @@ private:
 	bool debug_navigation_enable_geometry_face_random_color = true;
 	bool debug_navigation_enable_link_connections = true;
 	bool debug_navigation_enable_link_connections_xray = true;
+	bool debug_navigation_enable_agent_paths = true;
+	bool debug_navigation_enable_agent_paths_xray = true;
 
 	Ref<StandardMaterial3D> debug_navigation_geometry_edge_material;
 	Ref<StandardMaterial3D> debug_navigation_geometry_face_material;
@@ -304,6 +309,9 @@ private:
 	Ref<StandardMaterial3D> debug_navigation_link_connections_material;
 	Ref<StandardMaterial3D> debug_navigation_link_connections_disabled_material;
 
+	Ref<StandardMaterial3D> debug_navigation_agent_path_line_material;
+	Ref<StandardMaterial3D> debug_navigation_agent_path_point_material;
+
 public:
 	void set_debug_enabled(bool p_enabled);
 	bool get_debug_enabled() const;
@@ -329,6 +337,9 @@ public:
 	void set_debug_navigation_link_connection_disabled_color(const Color &p_color);
 	Color get_debug_navigation_link_connection_disabled_color() const;
 
+	void set_debug_navigation_agent_path_color(const Color &p_color);
+	Color get_debug_navigation_agent_path_color() const;
+
 	void set_debug_navigation_enable_edge_connections(const bool p_value);
 	bool get_debug_navigation_enable_edge_connections() const;
 
@@ -350,6 +361,15 @@ public:
 	void set_debug_navigation_enable_link_connections_xray(const bool p_value);
 	bool get_debug_navigation_enable_link_connections_xray() const;
 
+	void set_debug_navigation_enable_agent_paths(const bool p_value);
+	bool get_debug_navigation_enable_agent_paths() const;
+
+	void set_debug_navigation_enable_agent_paths_xray(const bool p_value);
+	bool get_debug_navigation_enable_agent_paths_xray() const;
+
+	void set_debug_navigation_agent_path_point_size(float p_point_size);
+	float get_debug_navigation_agent_path_point_size() const;
+
 	Ref<StandardMaterial3D> get_debug_navigation_geometry_face_material();
 	Ref<StandardMaterial3D> get_debug_navigation_geometry_edge_material();
 	Ref<StandardMaterial3D> get_debug_navigation_geometry_face_disabled_material();
@@ -357,6 +377,9 @@ public:
 	Ref<StandardMaterial3D> get_debug_navigation_edge_connections_material();
 	Ref<StandardMaterial3D> get_debug_navigation_link_connections_material();
 	Ref<StandardMaterial3D> get_debug_navigation_link_connections_disabled_material();
+
+	Ref<StandardMaterial3D> get_debug_navigation_agent_path_line_material();
+	Ref<StandardMaterial3D> get_debug_navigation_agent_path_point_material();
 #endif // DEBUG_ENABLED
 };