Merge pull request #46786 from groud/navigation

Remove Navigation2D/3D nodes

core/core_constants.cpp

@@ -521,8 +521,10 @@ void register_global_constants() {
 
 	BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_LAYERS_2D_RENDER);
 	BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_LAYERS_2D_PHYSICS);
+	BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_LAYERS_2D_NAVIGATION);
 	BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_LAYERS_3D_RENDER);
 	BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_LAYERS_3D_PHYSICS);
+	BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_LAYERS_3D_NAVIGATION);
 
 	BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_FILE);
 	BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_DIR);

core/object/object.h

@@ -66,8 +66,10 @@ enum PropertyHint {
 	PROPERTY_HINT_FLAGS, ///< hint_text= "flag1,flag2,etc" (as bit flags)
 	PROPERTY_HINT_LAYERS_2D_RENDER,
 	PROPERTY_HINT_LAYERS_2D_PHYSICS,
+	PROPERTY_HINT_LAYERS_2D_NAVIGATION,
 	PROPERTY_HINT_LAYERS_3D_RENDER,
 	PROPERTY_HINT_LAYERS_3D_PHYSICS,
+	PROPERTY_HINT_LAYERS_3D_NAVIGATION,
 	PROPERTY_HINT_FILE, ///< a file path must be passed, hint_text (optionally) is a filter "*.png,*.wav,*.doc,"
 	PROPERTY_HINT_DIR, ///< a directory path must be passed
 	PROPERTY_HINT_GLOBAL_FILE, ///< a file path must be passed, hint_text (optionally) is a filter "*.png,*.wav,*.doc,"

doc/classes/@GlobalScope.xml

@@ -2409,43 +2409,49 @@
 		<constant name="PROPERTY_HINT_LAYERS_2D_PHYSICS" value="9" enum="PropertyHint">
 			Hints that an integer property is a bitmask using the optionally named 2D physics layers.
 		</constant>
-		<constant name="PROPERTY_HINT_LAYERS_3D_RENDER" value="10" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_LAYERS_2D_NAVIGATION" value="10" enum="PropertyHint">
+			Hints that an integer property is a bitmask using the optionally named 2D navigation layers.
+		</constant>
+		<constant name="PROPERTY_HINT_LAYERS_3D_RENDER" value="11" enum="PropertyHint">
 			Hints that an integer property is a bitmask using the optionally named 3D render layers.
 		</constant>
-		<constant name="PROPERTY_HINT_LAYERS_3D_PHYSICS" value="11" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_LAYERS_3D_PHYSICS" value="12" enum="PropertyHint">
 			Hints that an integer property is a bitmask using the optionally named 3D physics layers.
 		</constant>
-		<constant name="PROPERTY_HINT_FILE" value="12" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_LAYERS_3D_NAVIGATION" value="13" enum="PropertyHint">
+			Hints that an integer property is a bitmask using the optionally named 2D navigation layers.
+		</constant>
+		<constant name="PROPERTY_HINT_FILE" value="14" enum="PropertyHint">
 			Hints that a string property is a path to a file. Editing it will show a file dialog for picking the path. The hint string can be a set of filters with wildcards like [code]"*.png,*.jpg"[/code].
 		</constant>
-		<constant name="PROPERTY_HINT_DIR" value="13" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_DIR" value="15" enum="PropertyHint">
 			Hints that a string property is a path to a directory. Editing it will show a file dialog for picking the path.
 		</constant>
-		<constant name="PROPERTY_HINT_GLOBAL_FILE" value="14" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_GLOBAL_FILE" value="16" enum="PropertyHint">
 			Hints that a string property is an absolute path to a file outside the project folder. Editing it will show a file dialog for picking the path. The hint string can be a set of filters with wildcards like [code]"*.png,*.jpg"[/code].
 		</constant>
-		<constant name="PROPERTY_HINT_GLOBAL_DIR" value="15" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_GLOBAL_DIR" value="17" enum="PropertyHint">
 			Hints that a string property is an absolute path to a directory outside the project folder. Editing it will show a file dialog for picking the path.
 		</constant>
-		<constant name="PROPERTY_HINT_RESOURCE_TYPE" value="16" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_RESOURCE_TYPE" value="18" enum="PropertyHint">
 			Hints that a property is an instance of a [Resource]-derived type, optionally specified via the hint string (e.g. [code]"Texture2D"[/code]). Editing it will show a popup menu of valid resource types to instantiate.
 		</constant>
-		<constant name="PROPERTY_HINT_MULTILINE_TEXT" value="17" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_MULTILINE_TEXT" value="19" enum="PropertyHint">
 			Hints that a string property is text with line breaks. Editing it will show a text input field where line breaks can be typed.
 		</constant>
-		<constant name="PROPERTY_HINT_PLACEHOLDER_TEXT" value="18" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_PLACEHOLDER_TEXT" value="20" enum="PropertyHint">
 			Hints that a string property should have a placeholder text visible on its input field, whenever the property is empty. The hint string is the placeholder text to use.
 		</constant>
-		<constant name="PROPERTY_HINT_COLOR_NO_ALPHA" value="19" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_COLOR_NO_ALPHA" value="21" enum="PropertyHint">
 			Hints that a color property should be edited without changing its alpha component, i.e. only R, G and B channels are edited.
 		</constant>
-		<constant name="PROPERTY_HINT_IMAGE_COMPRESS_LOSSY" value="20" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_IMAGE_COMPRESS_LOSSY" value="22" enum="PropertyHint">
 			Hints that an image is compressed using lossy compression.
 		</constant>
-		<constant name="PROPERTY_HINT_IMAGE_COMPRESS_LOSSLESS" value="21" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_IMAGE_COMPRESS_LOSSLESS" value="23" enum="PropertyHint">
 			Hints that an image is compressed using lossless compression.
 		</constant>
-		<constant name="PROPERTY_HINT_TYPE_STRING" value="23" enum="PropertyHint">
+		<constant name="PROPERTY_HINT_TYPE_STRING" value="25" enum="PropertyHint">
 			Hint that a property represents a particular type. If a property is [constant TYPE_STRING], allows to set a type from the create dialog. If you need to create an [Array] to contain elements of a specific type, the [code]hint_string[/code] must encode nested types using [code]":"[/code] and [code]"/"[/code] for specifying [Resource] types. For instance:
 			[codeblock]
 			hint_string = "%s:" % [TYPE_INT] # Array of inteters.

doc/classes/Navigation2D.xml

@@ -1,59 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="Navigation2D" inherits="Node2D" version="4.0">
-	<brief_description>
-		2D navigation and pathfinding node.
-	</brief_description>
-	<description>
-		Navigation2D provides navigation and pathfinding within a 2D area, specified as a collection of [NavigationPolygon] resources. These are automatically collected from child [NavigationRegion2D] nodes.
-	</description>
-	<tutorials>
-		<link title="2D Navigation Demo">https://godotengine.org/asset-library/asset/117</link>
-	</tutorials>
-	<methods>
-		<method name="get_closest_point" qualifiers="const">
-			<return type="Vector2">
-			</return>
-			<argument index="0" name="to_point" type="Vector2">
-			</argument>
-			<description>
-				Returns the point closest to the provided [code]to_point[/code] on the navigation mesh surface.
-			</description>
-		</method>
-		<method name="get_closest_point_owner" qualifiers="const">
-			<return type="RID">
-			</return>
-			<argument index="0" name="to_point" type="Vector2">
-			</argument>
-			<description>
-				Returns the owner region RID for the point returned by [method get_closest_point].
-			</description>
-		</method>
-		<method name="get_rid" qualifiers="const">
-			<return type="RID">
-			</return>
-			<description>
-			</description>
-		</method>
-		<method name="get_simple_path" qualifiers="const">
-			<return type="PackedVector2Array">
-			</return>
-			<argument index="0" name="start" type="Vector2">
-			</argument>
-			<argument index="1" name="end" type="Vector2">
-			</argument>
-			<argument index="2" name="optimize" type="bool" default="true">
-			</argument>
-			<description>
-				Returns the path between two given points. Points are in local coordinate space. If [code]optimize[/code] is [code]true[/code] (the default), the path is smoothed by merging path segments where possible.
-			</description>
-		</method>
-	</methods>
-	<members>
-		<member name="cell_size" type="float" setter="set_cell_size" getter="get_cell_size" default="10.0">
-		</member>
-		<member name="edge_connection_margin" type="float" setter="set_edge_connection_margin" getter="get_edge_connection_margin" default="100.0">
-		</member>
-	</members>
-	<constants>
-	</constants>
-</class>

doc/classes/Navigation3D.xml

@@ -1,84 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="Navigation3D" inherits="Node3D" version="4.0">
-	<brief_description>
-		Mesh-based navigation and pathfinding node.
-	</brief_description>
-	<description>
-		Provides navigation and pathfinding within a collection of [NavigationMesh]es. These will be automatically collected from child [NavigationRegion3D] nodes. In addition to basic pathfinding, this class also assists with aligning navigation agents with the meshes they are navigating on.
-	</description>
-	<tutorials>
-		<link title="3D Navmesh Demo">https://godotengine.org/asset-library/asset/124</link>
-	</tutorials>
-	<methods>
-		<method name="get_closest_point" qualifiers="const">
-			<return type="Vector3">
-			</return>
-			<argument index="0" name="to_point" type="Vector3">
-			</argument>
-			<description>
-				Returns the point closest to the provided [code]to_point[/code] on the navigation mesh surface.
-			</description>
-		</method>
-		<method name="get_closest_point_normal" qualifiers="const">
-			<return type="Vector3">
-			</return>
-			<argument index="0" name="to_point" type="Vector3">
-			</argument>
-			<description>
-				Returns the normal for the point returned by [method get_closest_point].
-			</description>
-		</method>
-		<method name="get_closest_point_owner" qualifiers="const">
-			<return type="RID">
-			</return>
-			<argument index="0" name="to_point" type="Vector3">
-			</argument>
-			<description>
-				Returns the owner region RID for the point returned by [method get_closest_point].
-			</description>
-		</method>
-		<method name="get_closest_point_to_segment" qualifiers="const">
-			<return type="Vector3">
-			</return>
-			<argument index="0" name="start" type="Vector3">
-			</argument>
-			<argument index="1" name="end" type="Vector3">
-			</argument>
-			<argument index="2" name="use_collision" type="bool" default="false">
-			</argument>
-			<description>
-				Returns the closest point between the navigation surface and the segment.
-			</description>
-		</method>
-		<method name="get_rid" qualifiers="const">
-			<return type="RID">
-			</return>
-			<description>
-			</description>
-		</method>
-		<method name="get_simple_path" qualifiers="const">
-			<return type="PackedVector3Array">
-			</return>
-			<argument index="0" name="start" type="Vector3">
-			</argument>
-			<argument index="1" name="end" type="Vector3">
-			</argument>
-			<argument index="2" name="optimize" type="bool" default="true">
-			</argument>
-			<description>
-				Returns the path between two given points. Points are in local coordinate space. If [code]optimize[/code] is [code]true[/code] (the default), the agent properties associated with each [NavigationMesh] (radius, height, etc.) are considered in the path calculation, otherwise they are ignored.
-			</description>
-		</method>
-	</methods>
-	<members>
-		<member name="cell_size" type="float" setter="set_cell_size" getter="get_cell_size" default="0.3">
-		</member>
-		<member name="edge_connection_margin" type="float" setter="set_edge_connection_margin" getter="get_edge_connection_margin" default="5.0">
-		</member>
-		<member name="up_vector" type="Vector3" setter="set_up_vector" getter="get_up_vector" default="Vector3( 0, 1, 0 )">
-			Defines which direction is up. By default, this is [code](0, 1, 0)[/code], which is the world's "up" direction.
-		</member>
-	</members>
-	<constants>
-	</constants>
-</class>

doc/classes/NavigationAgent2D.xml

@@ -4,7 +4,7 @@
 		2D Agent used in navigation for collision avoidance.
 	</brief_description>
 	<description>
-		2D Agent that is used in navigation to reach a location while avoiding static and dynamic obstacles. The dynamic obstacles are avoided using RVO collision avoidance. The agent needs navigation data to work correctly. This can be done by having the agent as a child of a [Navigation2D] node, or using [method set_navigation]. [NavigationAgent2D] is physics safe.
+		2D Agent that is used in navigation to reach a location while avoiding static and dynamic obstacles. The dynamic obstacles are avoided using RVO collision avoidance. The agent needs navigation data to work correctly. [NavigationAgent2D] is physics safe.
 	</description>
 	<tutorials>
 	</tutorials>
@@ -37,13 +37,6 @@
 				Returns which index the agent is currently on in the navigation path's [PackedVector2Array].
 			</description>
 		</method>
-		<method name="get_navigation" qualifiers="const">
-			<return type="Node">
-			</return>
-			<description>
-				Returns the [Navigation2D] node that the agent is using for its navigation system.
-			</description>
-		</method>
 		<method name="get_next_location">
 			<return type="Vector2">
 			</return>
@@ -79,15 +72,6 @@
 				Returns true if the target location is reached. The target location is set using [method set_target_location]. It may not always be possible to reach the target location. It should always be possible to reach the final location though. See [method get_final_location].
 			</description>
 		</method>
-		<method name="set_navigation">
-			<return type="void">
-			</return>
-			<argument index="0" name="navigation" type="Node">
-			</argument>
-			<description>
-				Sets the [Navigation2D] node used by the agent. Useful when you don't want to make the agent a child of a [Navigation2D] node.
-			</description>
-		</method>
 		<method name="set_target_location">
 			<return type="void">
 			</return>

doc/classes/NavigationAgent3D.xml

@@ -4,7 +4,7 @@
 		3D Agent used in navigation for collision avoidance.
 	</brief_description>
 	<description>
-		3D Agent that is used in navigation to reach a location while avoiding static and dynamic obstacles. The dynamic obstacles are avoided using RVO collision avoidance. The agent needs navigation data to work correctly. This can be done by having the agent as a child of a [Navigation3D] node, or using [method set_navigation]. [NavigationAgent3D] is physics safe.
+		3D Agent that is used in navigation to reach a location while avoiding static and dynamic obstacles. The dynamic obstacles are avoided using RVO collision avoidance. The agent needs navigation data to work correctly. [NavigationAgent3D] is physics safe.
 	</description>
 	<tutorials>
 	</tutorials>
@@ -37,13 +37,6 @@
 				Returns which index the agent is currently on in the navigation path's [PackedVector3Array].
 			</description>
 		</method>
-		<method name="get_navigation" qualifiers="const">
-			<return type="Node">
-			</return>
-			<description>
-				Returns the [Navigation3D] node that the agent is using for its navigation system.
-			</description>
-		</method>
 		<method name="get_next_location">
 			<return type="Vector3">
 			</return>
@@ -79,15 +72,6 @@
 				Returns true if the target location is reached. The target location is set using [method set_target_location]. It may not always be possible to reach the target location. It should always be possible to reach the final location though. See [method get_final_location].
 			</description>
 		</method>
-		<method name="set_navigation">
-			<return type="void">
-			</return>
-			<argument index="0" name="navigation" type="Node">
-			</argument>
-			<description>
-				Sets the [Navigation3D] node used by the agent. Useful when you don't want to make the agent a child of a [Navigation3D] node.
-			</description>
-		</method>
 		<method name="set_target_location">
 			<return type="void">
 			</return>

doc/classes/NavigationObstacle2D.xml

@@ -4,27 +4,11 @@
 		2D Obstacle used in navigation for collision avoidance.
 	</brief_description>
 	<description>
-		2D Obstacle used in navigation for collision avoidance. The obstacle needs navigation data to work correctly. This can be done by having the obstacle as a child of a [Navigation2D] node, or using [method set_navigation]. [NavigationObstacle2D] is physics safe.
+		2D Obstacle used in navigation for collision avoidance. The obstacle needs navigation data to work correctly. [NavigationObstacle2D] is physics safe.
 	</description>
 	<tutorials>
 	</tutorials>
 	<methods>
-		<method name="get_navigation" qualifiers="const">
-			<return type="Node">
-			</return>
-			<description>
-				Returns the [Navigation2D] node that the obstacle is using for its navigation system.
-			</description>
-		</method>
-		<method name="set_navigation">
-			<return type="void">
-			</return>
-			<argument index="0" name="navigation" type="Node">
-			</argument>
-			<description>
-				Sets the [Navigation2D] node used by the obstacle. Useful when you don't want to make the obstacle a child of a [Navigation2D] node.
-			</description>
-		</method>
 	</methods>
 	<constants>
 	</constants>

doc/classes/NavigationObstacle3D.xml

@@ -4,27 +4,11 @@
 		3D Obstacle used in navigation for collision avoidance.
 	</brief_description>
 	<description>
-		3D Obstacle used in navigation for collision avoidance. The obstacle needs navigation data to work correctly. This can be done by having the obstacle as a child of a [Navigation3D] node, or using [method set_navigation]. [NavigationObstacle3D] is physics safe.
+		3D Obstacle used in navigation for collision avoidance. The obstacle needs navigation data to work correctly. [NavigationObstacle3D] is physics safe.
 	</description>
 	<tutorials>
 	</tutorials>
 	<methods>
-		<method name="get_navigation" qualifiers="const">
-			<return type="Node">
-			</return>
-			<description>
-				Returns the [Navigation3D] node that the obstacle is using for its navigation system.
-			</description>
-		</method>
-		<method name="set_navigation">
-			<return type="void">
-			</return>
-			<argument index="0" name="navigation" type="Node">
-			</argument>
-			<description>
-				Sets the [Navigation3D] node used by the obstacle. Useful when you don't want to make the obstacle a child of a [Navigation3D] node.
-			</description>
-		</method>
 	</methods>
 	<constants>
 	</constants>

doc/classes/NavigationRegion2D.xml

@@ -1,8 +1,12 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <class name="NavigationRegion2D" inherits="Node2D" version="4.0">
 	<brief_description>
+		A region of the 2D navigation map.
 	</brief_description>
 	<description>
+		A region of the navigation map. It tells the [NavigationServer2D] what can be navigated and what cannot, based on its [NavigationPolygon] resource.
+		Two regions can be connected to each other if they share a similar edge. You can set the minimum distance between two vertices required to connect two edges by using [method NavigationServer2D.map_set_edge_connection_margin].
+		[b]Note:[/b] Overlapping two regions' polygons is not enough for connecting two regions. They must share a similar edge.
 	</description>
 	<tutorials>
 	</tutorials>
@@ -10,8 +14,13 @@
 	</methods>
 	<members>
 		<member name="enabled" type="bool" setter="set_enabled" getter="is_enabled" default="true">
+			Determines if the [NavigationRegion2D] is enabled or disabled.
+		</member>
+		<member name="layers" type="int" setter="set_layers" getter="get_layers" default="1">
+			A bitfield determining all layers the region belongs to. These layers can be checked upon when requesting a path with [method NavigationServer2D.map_get_path].
 		</member>
 		<member name="navpoly" type="NavigationPolygon" setter="set_navigation_polygon" getter="get_navigation_polygon">
+			The [NavigationPolygon] resource to use.
 		</member>
 	</members>
 	<constants>

doc/classes/NavigationRegion3D.xml

@@ -4,7 +4,8 @@
 		A region of the navigation map.
 	</brief_description>
 	<description>
-		A region of the navigation map. It tells the [Navigation3D] node what can be navigated and what cannot, based on the [NavigationMesh] resource. This should be a child of a [Navigation3D] node (even not a direct child).
+		A region of the navigation map. It tells the [NavigationServer3D] what can be navigated and what cannot, based on its [NavigationMesh] resource.
+		Two regions can be connected to each other if they share a similar edge. You can set the minimum distance between two vertices required to connect two edges by using [method NavigationServer3D.map_set_edge_connection_margin].
 	</description>
 	<tutorials>
 	</tutorials>
@@ -21,6 +22,9 @@
 		<member name="enabled" type="bool" setter="set_enabled" getter="is_enabled" default="true">
 			Determines if the [NavigationRegion3D] is enabled or disabled.
 		</member>
+		<member name="layers" type="int" setter="set_layers" getter="get_layers" default="1">
+			A bitfield determining all layers the region belongs to. These layers can be checked upon when requesting a path with [method NavigationServer3D.map_get_path].
+		</member>
 		<member name="navmesh" type="NavigationMesh" setter="set_navigation_mesh" getter="get_navigation_mesh">
 			The [NavigationMesh] resource to use.
 		</member>

doc/classes/NavigationServer2D.xml

@@ -4,7 +4,12 @@
 		Server interface for low-level 2D navigation access
 	</brief_description>
 	<description>
-		NavigationServer2D is the server responsible for all 2D navigation. It creates the agents, maps, and regions for navigation to work as expected. This keeps tracks of any call and executes them during the sync phase. This means that you can request any change to the map, using any thread, without worrying.
+		NavigationServer2D is the server responsible for all 2D navigation. It handles several objects, namely maps, regions and agents.
+		Maps are made up of regions, which are made of navigation polygons. Together, they define the navigable areas in the 2D world. For two regions to be connected to each other, they must share a similar edge. An edges is considered connected to another if both of its two vertices are at a distance less than [code]edge_connection_margin[/code] to the respective other edge's vertex.
+		You may assign navigation layers to regions with [method NavigationServer2D.region_set_layers], which then can be checked upon when requesting a path with [method NavigationServer2D.map_get_path]. This allows allowing or forbidding some areas to 2D objects.
+		To use the collision avoidance system, you may use agents. You can set an agent's target velocity, then the servers will emit a callback with a modified velocity.
+		[b]Note:[/b] the collision avoidance system ignores regions. Using the modified velocity as-is might lead to pushing and agent outside of a navigable area. This is a limitation of the collision avoidance system, any more complex situation may require the use of the physics engine.
+		This server keeps tracks of any call and executes them during the sync phase. This means that you can request any change to the map, using any thread, without worrying.
 	</description>
 	<tutorials>
 		<link title="2D Navigation Demo">https://godotengine.org/asset-library/asset/117</link>
@@ -207,8 +212,10 @@
 			</argument>
 			<argument index="3" name="optimize" type="bool">
 			</argument>
+			<argument index="4" name="layers" type="int" default="1">
+			</argument>
 			<description>
-				Returns the navigation path to reach the destination from the origin, while avoiding static obstacles.
+				Returns the navigation path to reach the destination from the origin. [code]layers[/code] is a bitmask of all region layers that are allowed to be in the path.
 			</description>
 		</method>
 		<method name="map_is_active" qualifiers="const">
@@ -260,6 +267,26 @@
 				Creates a new region.
 			</description>
 		</method>
+		<method name="region_get_layers" qualifiers="const">
+			<return type="int">
+			</return>
+			<argument index="0" name="region" type="RID">
+			</argument>
+			<description>
+				Returns the region's layers.
+			</description>
+		</method>
+		<method name="region_set_layers" qualifiers="const">
+			<return type="void">
+			</return>
+			<argument index="0" name="region" type="RID">
+			</argument>
+			<argument index="1" name="layers" type="int">
+			</argument>
+			<description>
+				Set the region's layers. This allows selecting regions from a path request (when using [method NavigationServer2D.map_get_path]).
+			</description>
+		</method>
 		<method name="region_set_map" qualifiers="const">
 			<return type="void">
 			</return>

doc/classes/NavigationServer3D.xml

@@ -4,7 +4,12 @@
 		Server interface for low-level 3D navigation access
 	</brief_description>
 	<description>
-		NavigationServer3D is the server responsible for all 3D navigation. It creates the agents, maps, and regions for navigation to work as expected. This keeps tracks of any call and executes them during the sync phase. This means that you can request any change to the map, using any thread, without worrying.
+		NavigationServer3D is the server responsible for all 3D navigation. It handles several objects, namely maps, regions and agents.
+		Maps are made up of regions, which are made of navigation meshes. Together, they define the navigable areas in the 3D world. For two regions to be connected to each other, they must share a similar edge. An edges is considered connected to another if both of its two vertices are at a distance less than [code]edge_connection_margin[/code] to the respective other edge's vertex.
+		You may assign navigation layers to regions with [method NavigationServer3D.region_set_layers], which then can be checked upon when requesting a path with [method NavigationServer3D.map_get_path]. This allows allowing or forbidding some areas to 3D objects.
+		To use the collision avoidance system, you may use agents. You can set an agent's target velocity, then the servers will emit a callback with a modified velocity.
+		[b]Note:[/b] the collision avoidance system ignores regions. Using the modified velocity as-is might lead to pushing and agent outside of a navigable area. This is a limitation of the collision avoidance system, any more complex situation may require the use of the physics engine.
+		This server keeps tracks of any call and executes them during the sync phase. This means that you can request any change to the map, using any thread, without worrying.
 	</description>
 	<tutorials>
 		<link title="3D Navmesh Demo">https://godotengine.org/asset-library/asset/124</link>
@@ -219,7 +224,7 @@
 			<argument index="0" name="map" type="RID">
 			</argument>
 			<description>
-				Returns the edge connection margin of the map.
+				Returns the edge connection margin of the map. This distance is the minimum vertex distance needed to connect two edges from different regions.
 			</description>
 		</method>
 		<method name="map_get_path" qualifiers="const">
@@ -233,8 +238,10 @@
 			</argument>
 			<argument index="3" name="optimize" type="bool">
 			</argument>
+			<argument index="4" name="layers" type="int" default="1">
+			</argument>
 			<description>
-				Returns the navigation path to reach the destination from the origin.
+				Returns the navigation path to reach the destination from the origin. [code]layers[/code] is a bitmask of all region layers that are allowed to be in the path.
 			</description>
 		</method>
 		<method name="map_get_up" qualifiers="const">
@@ -285,7 +292,7 @@
 			<argument index="1" name="margin" type="float">
 			</argument>
 			<description>
-				Set the map edge connection margein used to weld the compatible region edges.
+				Set the map edge connection margin used to weld the compatible region edges.
 			</description>
 		</method>
 		<method name="map_set_up" qualifiers="const">
@@ -328,6 +335,26 @@
 				Creates a new region.
 			</description>
 		</method>
+		<method name="region_get_layers" qualifiers="const">
+			<return type="int">
+			</return>
+			<argument index="0" name="region" type="RID">
+			</argument>
+			<description>
+				Returns the region's layers.
+			</description>
+		</method>
+		<method name="region_set_layers" qualifiers="const">
+			<return type="void">
+			</return>
+			<argument index="0" name="region" type="RID">
+			</argument>
+			<argument index="1" name="layers" type="int">
+			</argument>
+			<description>
+				Set the region's layers. This allows selecting regions from a path request (when using [method NavigationServer3D.map_get_path]).
+			</description>
+		</method>
 		<method name="region_set_map" qualifiers="const">
 			<return type="void">
 			</return>

doc/classes/ProjectSettings.xml

@@ -758,6 +758,66 @@
 		<member name="internationalization/rendering/text_driver" type="String" setter="" getter="" default="&quot;&quot;">
 			Specifies the [TextServer] to use. If left empty, the default will be used.
 		</member>
+		<member name="layer_names/2d_navigation/layer_0" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 0. If left empty, the layer will display as "Layer 0".
+		</member>
+		<member name="layer_names/2d_navigation/layer_1" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 1. If left empty, the layer will display as "Layer 1".
+		</member>
+		<member name="layer_names/2d_navigation/layer_10" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 10. If left empty, the layer will display as "Layer 10".
+		</member>
+		<member name="layer_names/2d_navigation/layer_11" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 11. If left empty, the layer will display as "Layer 11".
+		</member>
+		<member name="layer_names/2d_navigation/layer_12" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 12. If left empty, the layer will display as "Layer 12".
+		</member>
+		<member name="layer_names/2d_navigation/layer_13" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 13. If left empty, the layer will display as "Layer 13".
+		</member>
+		<member name="layer_names/2d_navigation/layer_14" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 14. If left empty, the layer will display as "Layer 14".
+		</member>
+		<member name="layer_names/2d_navigation/layer_15" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 15. If left empty, the layer will display as "Layer 15".
+		</member>
+		<member name="layer_names/2d_navigation/layer_16" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 16. If left empty, the layer will display as "Layer 16".
+		</member>
+		<member name="layer_names/2d_navigation/layer_17" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 17. If left empty, the layer will display as "Layer 17".
+		</member>
+		<member name="layer_names/2d_navigation/layer_18" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 18. If left empty, the layer will display as "Layer 18".
+		</member>
+		<member name="layer_names/2d_navigation/layer_19" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 19. If left empty, the layer will display as "Layer 19".
+		</member>
+		<member name="layer_names/2d_navigation/layer_2" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 2. If left empty, the layer will display as "Layer 2".
+		</member>
+		<member name="layer_names/2d_navigation/layer_3" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 3. If left empty, the layer will display as "Layer 3".
+		</member>
+		<member name="layer_names/2d_navigation/layer_4" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 4. If left empty, the layer will display as "Layer 4".
+		</member>
+		<member name="layer_names/2d_navigation/layer_5" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 5. If left empty, the layer will display as "Layer 5".
+		</member>
+		<member name="layer_names/2d_navigation/layer_6" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 6. If left empty, the layer will display as "Layer 6".
+		</member>
+		<member name="layer_names/2d_navigation/layer_7" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 7. If left empty, the layer will display as "Layer 7".
+		</member>
+		<member name="layer_names/2d_navigation/layer_8" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 8. If left empty, the layer will display as "Layer 8".
+		</member>
+		<member name="layer_names/2d_navigation/layer_9" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 2D navigation layer 9. If left empty, the layer will display as "Layer 9".
+		</member>
 		<member name="layer_names/2d_physics/layer_0" type="String" setter="" getter="" default="&quot;&quot;">
 			Optional name for the 2D physics layer 0. If left empty, the layer will display as "Layer 0".
 		</member>
@@ -878,6 +938,66 @@
 		<member name="layer_names/2d_render/layer_9" type="String" setter="" getter="" default="&quot;&quot;">
 			Optional name for the 2D render layer 9. If left empty, the layer will display as "Layer 9".
 		</member>
+		<member name="layer_names/3d_navigation/layer_0" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 0. If left empty, the layer will display as "Layer 0".
+		</member>
+		<member name="layer_names/3d_navigation/layer_1" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 1. If left empty, the layer will display as "Layer 1".
+		</member>
+		<member name="layer_names/3d_navigation/layer_10" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 10. If left empty, the layer will display as "Layer 10".
+		</member>
+		<member name="layer_names/3d_navigation/layer_11" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 11. If left empty, the layer will display as "Layer 11".
+		</member>
+		<member name="layer_names/3d_navigation/layer_12" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 12. If left empty, the layer will display as "Layer 12".
+		</member>
+		<member name="layer_names/3d_navigation/layer_13" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 13. If left empty, the layer will display as "Layer 13".
+		</member>
+		<member name="layer_names/3d_navigation/layer_14" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 14. If left empty, the layer will display as "Layer 14".
+		</member>
+		<member name="layer_names/3d_navigation/layer_15" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 15. If left empty, the layer will display as "Layer 15".
+		</member>
+		<member name="layer_names/3d_navigation/layer_16" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 16. If left empty, the layer will display as "Layer 16".
+		</member>
+		<member name="layer_names/3d_navigation/layer_17" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 17. If left empty, the layer will display as "Layer 17".
+		</member>
+		<member name="layer_names/3d_navigation/layer_18" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 18. If left empty, the layer will display as "Layer 18".
+		</member>
+		<member name="layer_names/3d_navigation/layer_19" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 19. If left empty, the layer will display as "Layer 19".
+		</member>
+		<member name="layer_names/3d_navigation/layer_2" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 2. If left empty, the layer will display as "Layer 2".
+		</member>
+		<member name="layer_names/3d_navigation/layer_3" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 3. If left empty, the layer will display as "Layer 3".
+		</member>
+		<member name="layer_names/3d_navigation/layer_4" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 4. If left empty, the layer will display as "Layer 4".
+		</member>
+		<member name="layer_names/3d_navigation/layer_5" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 5. If left empty, the layer will display as "Layer 5".
+		</member>
+		<member name="layer_names/3d_navigation/layer_6" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 6. If left empty, the layer will display as "Layer 6".
+		</member>
+		<member name="layer_names/3d_navigation/layer_7" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 7. If left empty, the layer will display as "Layer 7".
+		</member>
+		<member name="layer_names/3d_navigation/layer_8" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 8. If left empty, the layer will display as "Layer 8".
+		</member>
+		<member name="layer_names/3d_navigation/layer_9" type="String" setter="" getter="" default="&quot;&quot;">
+			Optional name for the 3D navigation layer 9. If left empty, the layer will display as "Layer 9".
+		</member>
 		<member name="layer_names/3d_physics/layer_0" type="String" setter="" getter="" default="&quot;&quot;">
 			Optional name for the 3D physics layer 0. If left empty, the layer will display as "Layer 0".
 		</member>
@@ -1020,6 +1140,18 @@
 		</member>
 		<member name="mono/unhandled_exception_policy" type="int" setter="" getter="" default="0">
 		</member>
+		<member name="navigation/2d/default_cell_size" type="int" setter="" getter="" default="10">
+			Default cell size for 2D navigation maps. See [method NavigationServer2D.map_set_cell_size].
+		</member>
+		<member name="navigation/2d/default_edge_connection_margin" type="int" setter="" getter="" default="100">
+			Default edge connection margin for 2D navigation maps. See [method NavigationServer2D.map_set_edge_connection_margin].
+		</member>
+		<member name="navigation/3d/default_cell_size" type="float" setter="" getter="" default="0.3">
+			Default cell size for 3D navigation maps. See [method NavigationServer3D.map_set_cell_size].
+		</member>
+		<member name="navigation/3d/default_edge_connection_margin" type="float" setter="" getter="" default="5.0">
+			Default edge connection margin for 3D navigation maps. See [method NavigationServer3D.map_set_edge_connection_margin].
+		</member>
 		<member name="network/limits/debugger/max_chars_per_second" type="int" setter="" getter="" default="32768">
 			Maximum amount of characters allowed to send as output from the debugger. Over this value, content is dropped. This helps not to stall the debugger connection.
 		</member>

doc/classes/TileMap.xml

@@ -272,6 +272,9 @@
 		</method>
 	</methods>
 	<members>
+		<member name="bake_navigation" type="bool" setter="set_bake_navigation" getter="is_baking_navigation" default="false">
+			If [code]true[/code], this TileMap bakes a navigation region.
+		</member>
 		<member name="cell_clip_uv" type="bool" setter="set_clip_uv" getter="get_clip_uv" default="false">
 			If [code]true[/code], the cell's UVs will be clipped.
 		</member>

doc/classes/World2D.xml

@@ -18,6 +18,9 @@
 		<member name="direct_space_state" type="PhysicsDirectSpaceState2D" setter="" getter="get_direct_space_state">
 			Direct access to the world's physics 2D space state. Used for querying current and potential collisions. When using multi-threaded physics, access is limited to [code]_physics_process(delta)[/code] in the main thread.
 		</member>
+		<member name="navigation_map" type="RID" setter="" getter="get_navigation_map">
+			The [RID] of this world's navigation map. Used by the [NavigationServer2D].
+		</member>
 		<member name="space" type="RID" setter="" getter="get_space">
 			The [RID] of this world's physics space resource. Used by the [PhysicsServer2D] for 2D physics, treating it as both a space and an area.
 		</member>

doc/classes/World3D.xml

@@ -23,6 +23,9 @@
 		<member name="fallback_environment" type="Environment" setter="set_fallback_environment" getter="get_fallback_environment">
 			The World3D's fallback_environment will be used if the World3D's [Environment] fails or is missing.
 		</member>
+		<member name="navigation_map" type="RID" setter="" getter="get_navigation_map">
+			The [RID] of this world's navigation map. Used by the [NavigationServer3D].
+		</member>
 		<member name="scenario" type="RID" setter="" getter="get_scenario">
 			The World3D's visual scenario.
 		</member>

editor/editor_properties.cpp

@@ -716,12 +716,18 @@ void EditorPropertyLayers::setup(LayerType p_layer_type) {
 		case LAYER_PHYSICS_2D:
 			basename = "layer_names/2d_physics";
 			break;
+		case LAYER_NAVIGATION_2D:
+			basename = "layer_names/2d_navigation";
+			break;
 		case LAYER_RENDER_3D:
 			basename = "layer_names/3d_render";
 			break;
 		case LAYER_PHYSICS_3D:
 			basename = "layer_names/3d_physics";
 			break;
+		case LAYER_NAVIGATION_3D:
+			basename = "layer_names/3d_navigation";
+			break;
 	}
 
 	Vector<String> names;
@@ -3300,7 +3306,12 @@ bool EditorInspectorDefaultPlugin::parse_property(Object *p_object, Variant::Typ
 				editor->setup(options);
 				add_property_editor(p_path, editor);
 
-			} else if (p_hint == PROPERTY_HINT_LAYERS_2D_PHYSICS || p_hint == PROPERTY_HINT_LAYERS_2D_RENDER || p_hint == PROPERTY_HINT_LAYERS_3D_PHYSICS || p_hint == PROPERTY_HINT_LAYERS_3D_RENDER) {
+			} else if (p_hint == PROPERTY_HINT_LAYERS_2D_PHYSICS ||
+					   p_hint == PROPERTY_HINT_LAYERS_2D_RENDER ||
+					   p_hint == PROPERTY_HINT_LAYERS_2D_NAVIGATION ||
+					   p_hint == PROPERTY_HINT_LAYERS_3D_PHYSICS ||
+					   p_hint == PROPERTY_HINT_LAYERS_3D_RENDER ||
+					   p_hint == PROPERTY_HINT_LAYERS_3D_NAVIGATION) {
 				EditorPropertyLayers::LayerType lt = EditorPropertyLayers::LAYER_RENDER_2D;
 				switch (p_hint) {
 					case PROPERTY_HINT_LAYERS_2D_RENDER:
@@ -3309,12 +3320,18 @@ bool EditorInspectorDefaultPlugin::parse_property(Object *p_object, Variant::Typ
 					case PROPERTY_HINT_LAYERS_2D_PHYSICS:
 						lt = EditorPropertyLayers::LAYER_PHYSICS_2D;
 						break;
+					case PROPERTY_HINT_LAYERS_2D_NAVIGATION:
+						lt = EditorPropertyLayers::LAYER_NAVIGATION_2D;
+						break;
 					case PROPERTY_HINT_LAYERS_3D_RENDER:
 						lt = EditorPropertyLayers::LAYER_RENDER_3D;
 						break;
 					case PROPERTY_HINT_LAYERS_3D_PHYSICS:
 						lt = EditorPropertyLayers::LAYER_PHYSICS_3D;
 						break;
+					case PROPERTY_HINT_LAYERS_3D_NAVIGATION:
+						lt = EditorPropertyLayers::LAYER_NAVIGATION_3D;
+						break;
 					default: {
 					} //compiler could be smarter here and realize this can't happen
 				}

editor/editor_properties.h

@@ -239,8 +239,10 @@ public:
 	enum LayerType {
 		LAYER_PHYSICS_2D,
 		LAYER_RENDER_2D,
+		LAYER_NAVIGATION_2D,
 		LAYER_PHYSICS_3D,
 		LAYER_RENDER_3D,
+		LAYER_NAVIGATION_3D,
 	};
 
 private:

editor/import/resource_importer_scene.cpp

@@ -35,7 +35,7 @@
 #include "editor/import/scene_importer_mesh_node_3d.h"
 #include "scene/3d/collision_shape_3d.h"
 #include "scene/3d/mesh_instance_3d.h"
-#include "scene/3d/navigation_3d.h"
+#include "scene/3d/navigation_region_3d.h"
 #include "scene/3d/physics_body_3d.h"
 #include "scene/3d/vehicle_body_3d.h"
 #include "scene/animation/animation_player.h"

editor/property_editor.cpp

@@ -417,7 +417,12 @@ bool CustomPropertyEditor::edit(Object *p_owner, const String &p_name, Variant::
 				updating = false;
 				return false;
 
-			} else if (hint == PROPERTY_HINT_LAYERS_2D_PHYSICS || hint == PROPERTY_HINT_LAYERS_2D_RENDER || hint == PROPERTY_HINT_LAYERS_3D_PHYSICS || hint == PROPERTY_HINT_LAYERS_3D_RENDER) {
+			} else if (hint == PROPERTY_HINT_LAYERS_2D_PHYSICS ||
+					   hint == PROPERTY_HINT_LAYERS_2D_RENDER ||
+					   hint == PROPERTY_HINT_LAYERS_2D_NAVIGATION ||
+					   hint == PROPERTY_HINT_LAYERS_3D_PHYSICS ||
+					   hint == PROPERTY_HINT_LAYERS_3D_RENDER ||
+					   hint == PROPERTY_HINT_LAYERS_3D_NAVIGATION) {
 				String basename;
 				switch (hint) {
 					case PROPERTY_HINT_LAYERS_2D_RENDER:
@@ -426,12 +431,18 @@ bool CustomPropertyEditor::edit(Object *p_owner, const String &p_name, Variant::
 					case PROPERTY_HINT_LAYERS_2D_PHYSICS:
 						basename = "layer_names/2d_physics";
 						break;
+					case PROPERTY_HINT_LAYERS_2D_NAVIGATION:
+						basename = "layer_names/2d_navigation";
+						break;
 					case PROPERTY_HINT_LAYERS_3D_RENDER:
 						basename = "layer_names/3d_render";
 						break;
 					case PROPERTY_HINT_LAYERS_3D_PHYSICS:
 						basename = "layer_names/3d_physics";
 						break;
+					case PROPERTY_HINT_LAYERS_3D_NAVIGATION:
+						basename = "layer_names/3d_navigation";
+						break;
 				}
 
 				checks20gc->show();
@@ -1153,7 +1164,12 @@ void CustomPropertyEditor::_action_pressed(int p_which) {
 			emit_signal("variant_changed");
 		} break;
 		case Variant::INT: {
-			if (hint == PROPERTY_HINT_LAYERS_2D_PHYSICS || hint == PROPERTY_HINT_LAYERS_2D_RENDER || hint == PROPERTY_HINT_LAYERS_3D_PHYSICS || hint == PROPERTY_HINT_LAYERS_3D_RENDER) {
+			if (hint == PROPERTY_HINT_LAYERS_2D_PHYSICS ||
+					hint == PROPERTY_HINT_LAYERS_2D_RENDER ||
+					hint == PROPERTY_HINT_LAYERS_2D_NAVIGATION ||
+					hint == PROPERTY_HINT_LAYERS_3D_PHYSICS ||
+					hint == PROPERTY_HINT_LAYERS_3D_RENDER ||
+					hint == PROPERTY_HINT_LAYERS_3D_NAVIGATION) {
 				uint32_t f = v;
 				if (checks20[p_which]->is_pressed()) {
 					f |= (1 << p_which);

modules/gdnative/include/nativescript/godot_nativescript.h

@@ -58,8 +58,10 @@ typedef enum {
 	GODOT_PROPERTY_HINT_FLAGS, ///< hint_text= "flag1,flag2,etc" (as bit flags)
 	GODOT_PROPERTY_HINT_LAYERS_2D_RENDER,
 	GODOT_PROPERTY_HINT_LAYERS_2D_PHYSICS,
+	GODOT_PROPERTY_HINT_LAYERS_2D_NAVIGATION,
 	GODOT_PROPERTY_HINT_LAYERS_3D_RENDER,
 	GODOT_PROPERTY_HINT_LAYERS_3D_PHYSICS,
+	GODOT_PROPERTY_HINT_LAYERS_3D_NAVIGATION,
 	GODOT_PROPERTY_HINT_FILE, ///< a file path must be passed, hint_text (optionally) is a filter "*.png,*.wav,*.doc,"
 	GODOT_PROPERTY_HINT_DIR, ///< a directory path must be passed
 	GODOT_PROPERTY_HINT_GLOBAL_FILE, ///< a file path must be passed, hint_text (optionally) is a filter "*.png,*.wav,*.doc,"

modules/gdnavigation/gd_navigation_server.cpp

@@ -200,11 +200,11 @@ real_t GdNavigationServer::map_get_edge_connection_margin(RID p_map) const {
 	return map->get_edge_connection_margin();
 }
 
-Vector<Vector3> GdNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize) const {
+Vector<Vector3> GdNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers) const {
 	const NavMap *map = map_owner.getornull(p_map);
 	ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());
 
-	return map->get_path(p_origin, p_destination, p_optimize);
+	return map->get_path(p_origin, p_destination, p_optimize, p_layers);
 }
 
 Vector3 GdNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
@@ -273,6 +273,20 @@ COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform) {
 	region->set_transform(p_transform);
 }
 
+COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers) {
+	NavRegion *region = region_owner.getornull(p_region);
+	ERR_FAIL_COND(region == nullptr);
+
+	region->set_layers(p_layers);
+}
+
+uint32_t GdNavigationServer::region_get_layers(RID p_region) const {
+	NavRegion *region = region_owner.getornull(p_region);
+	ERR_FAIL_COND_V(region == nullptr, 0);
+
+	return region->get_layers();
+}
+
 COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) {
 	NavRegion *region = region_owner.getornull(p_region);
 	ERR_FAIL_COND(region == nullptr);

modules/gdnavigation/gd_navigation_server.h

@@ -100,7 +100,7 @@ public:
 	COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
 	virtual real_t map_get_edge_connection_margin(RID p_map) const;
 
-	virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize) const;
+	virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const;
 
 	virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const;
 	virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const;
@@ -109,6 +109,8 @@ public:
 
 	virtual RID region_create() const;
 	COMMAND_2(region_set_map, RID, p_region, RID, p_map);
+	COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers);
+	virtual uint32_t region_get_layers(RID p_region) const;
 	COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform);
 	COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh);
 	virtual void region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const;

modules/gdnavigation/nav_map.cpp

@@ -70,7 +70,7 @@ gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
 	return p;
 }
 
-Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize) const {
+Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers) const {
 	const gd::Polygon *begin_poly = nullptr;
 	const gd::Polygon *end_poly = nullptr;
 	Vector3 begin_point;
@@ -82,6 +82,11 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
 	for (size_t i(0); i < polygons.size(); i++) {
 		const gd::Polygon &p = polygons[i];
 
+		// Only consider the polygon if it in a region with compatible layers.
+		if ((p_layers & p.owner->get_layers()) == 0) {
+			continue;
+		}
+
 		// For each point cast a face and check the distance between the origin/destination
 		for (size_t point_id = 2; point_id < p.points.size(); point_id++) {
 			Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
@@ -144,6 +149,11 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
 			for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) {
 				gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id];
 
+				// Only consider the polygon if it in a region with compatible layers.
+				if ((p_layers & least_cost_poly->poly->owner->get_layers()) == 0) {
+					continue;
+				}
+
 				const gd::Edge &edge = least_cost_poly->poly->edges[i];
 				if (!edge.other_polygon) {
 					continue;
@@ -629,7 +639,7 @@ void NavMap::sync() {
 					connection->get().B->edges[connection->get().B_edge].other_edge = connection->get().A_edge;
 				} else {
 					// The edge is already connected with another edge, skip.
-					ERR_PRINT("Attempted to merge a navigation mesh triangle edge with another already-merged edge. This happens when the Navigation3D's `cell_size` is different from the one used to generate the navigation mesh. This will cause navigation problem.");
+					ERR_PRINT("Attempted to merge a navigation mesh triangle edge with another already-merged edge. This happens when the current `cell_size` is different from the one used to generate the navigation mesh. This will cause navigation problem.");
 				}
 			}
 		}

modules/gdnavigation/nav_map.h

@@ -102,7 +102,7 @@ public:
 
 	gd::PointKey get_point_key(const Vector3 &p_pos) const;
 
-	Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize) const;
+	Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const;
 	Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const;
 	Vector3 get_closest_point(const Vector3 &p_point) const;
 	Vector3 get_closest_point_normal(const Vector3 &p_point) const;

modules/gdnavigation/nav_region.cpp

@@ -41,6 +41,14 @@ void NavRegion::set_map(NavMap *p_map) {
 	polygons_dirty = true;
 }
 
+void NavRegion::set_layers(uint32_t p_layers) {
+	layers = p_layers;
+}
+
+uint32_t NavRegion::get_layers() const {
+	return layers;
+}
+
 void NavRegion::set_transform(Transform p_transform) {
 	transform = p_transform;
 	polygons_dirty = true;

modules/gdnavigation/nav_region.h

@@ -31,10 +31,10 @@
 #ifndef NAV_REGION_H
 #define NAV_REGION_H
 
-#include "nav_rid.h"
+#include "scene/resources/navigation_mesh.h"
 
+#include "nav_rid.h"
 #include "nav_utils.h"
-#include "scene/3d/navigation_3d.h"
 #include <vector>
 
 /**
@@ -48,6 +48,7 @@ class NavRegion : public NavRid {
 	NavMap *map = nullptr;
 	Transform transform;
 	Ref<NavigationMesh> mesh;
+	uint32_t layers = 1;
 
 	bool polygons_dirty = true;
 
@@ -66,6 +67,9 @@ public:
 		return map;
 	}
 
+	void set_layers(uint32_t p_layers);
+	uint32_t get_layers() const;
+
 	void set_transform(Transform transform);
 	const Transform &get_transform() const {
 		return transform;

modules/gdscript/gdscript_parser.cpp

@@ -130,8 +130,10 @@ GDScriptParser::GDScriptParser() {
 	register_annotation(MethodInfo("@export_flags", { Variant::STRING, "names" }), AnnotationInfo::VARIABLE, &GDScriptParser::export_annotations<PROPERTY_HINT_FLAGS, Variant::INT>, 0, true);
 	register_annotation(MethodInfo("@export_flags_2d_render"), AnnotationInfo::VARIABLE, &GDScriptParser::export_annotations<PROPERTY_HINT_LAYERS_2D_RENDER, Variant::INT>);
 	register_annotation(MethodInfo("@export_flags_2d_physics"), AnnotationInfo::VARIABLE, &GDScriptParser::export_annotations<PROPERTY_HINT_LAYERS_2D_PHYSICS, Variant::INT>);
+	register_annotation(MethodInfo("@export_flags_2d_navigation"), AnnotationInfo::VARIABLE, &GDScriptParser::export_annotations<PROPERTY_HINT_LAYERS_2D_NAVIGATION, Variant::INT>);
 	register_annotation(MethodInfo("@export_flags_3d_render"), AnnotationInfo::VARIABLE, &GDScriptParser::export_annotations<PROPERTY_HINT_LAYERS_3D_RENDER, Variant::INT>);
 	register_annotation(MethodInfo("@export_flags_3d_physics"), AnnotationInfo::VARIABLE, &GDScriptParser::export_annotations<PROPERTY_HINT_LAYERS_3D_PHYSICS, Variant::INT>);
+	register_annotation(MethodInfo("@export_flags_3d_navigation"), AnnotationInfo::VARIABLE, &GDScriptParser::export_annotations<PROPERTY_HINT_LAYERS_3D_NAVIGATION, Variant::INT>);
 	// Networking.
 	register_annotation(MethodInfo("@remote"), AnnotationInfo::VARIABLE | AnnotationInfo::FUNCTION, &GDScriptParser::network_annotations<MultiplayerAPI::RPC_MODE_REMOTE>);
 	register_annotation(MethodInfo("@master"), AnnotationInfo::VARIABLE | AnnotationInfo::FUNCTION, &GDScriptParser::network_annotations<MultiplayerAPI::RPC_MODE_MASTER>);

modules/gridmap/doc_classes/GridMap.xml

@@ -184,6 +184,9 @@
 		</method>
 	</methods>
 	<members>
+		<member name="bake_navigation" type="bool" setter="set_bake_navigation" getter="is_baking_navigation" default="false">
+			If [code]true[/code], this GridMap bakes a navigation region.
+		</member>
 		<member name="cell_center_x" type="bool" setter="set_center_x" getter="get_center_x" default="true">
 			If [code]true[/code], grid items are centered on the X axis.
 		</member>
@@ -211,6 +214,9 @@
 		<member name="collision_mask" type="int" setter="set_collision_mask" getter="get_collision_mask" default="1">
 			The physics layers this GridMap detects collisions in. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
 		</member>
+		<member name="navigation_layers" type="int" setter="set_navigation_layers" getter="get_navigation_layers" default="1">
+			The navigation layers the GridMap generates its navigable regions in.
+		</member>
 		<member name="mesh_library" type="MeshLibrary" setter="set_mesh_library" getter="get_mesh_library">
 			The assigned [MeshLibrary].
 		</member>

modules/gridmap/grid_map.cpp

@@ -179,6 +179,24 @@ bool GridMap::get_collision_layer_bit(int p_bit) const {
 	return get_collision_layer() & (1 << p_bit);
 }
 
+void GridMap::set_bake_navigation(bool p_bake_navigation) {
+	bake_navigation = p_bake_navigation;
+	_recreate_octant_data();
+}
+
+bool GridMap::is_baking_navigation() {
+	return bake_navigation;
+}
+
+void GridMap::set_navigation_layers(uint32_t p_layers) {
+	navigation_layers = p_layers;
+	_recreate_octant_data();
+}
+
+uint32_t GridMap::get_navigation_layers() {
+	return navigation_layers;
+}
+
 void GridMap::set_mesh_library(const Ref<MeshLibrary> &p_mesh_library) {
 	if (!mesh_library.is_null()) {
 		mesh_library->unregister_owner(this);
@@ -474,13 +492,15 @@ bool GridMap::_octant_update(const OctantKey &p_key) {
 			Octant::NavMesh nm;
 			nm.xform = xform * mesh_library->get_item_navmesh_transform(c.item);
 
-			if (navigation) {
+			if (bake_navigation) {
 				RID region = NavigationServer3D::get_singleton()->region_create();
+				NavigationServer3D::get_singleton()->region_set_layers(region, navigation_layers);
 				NavigationServer3D::get_singleton()->region_set_navmesh(region, navmesh);
-				NavigationServer3D::get_singleton()->region_set_transform(region, navigation->get_global_transform() * nm.xform);
-				NavigationServer3D::get_singleton()->region_set_map(region, navigation->get_rid());
+				NavigationServer3D::get_singleton()->region_set_transform(region, get_global_transform() * mesh_library->get_item_navmesh_transform(c.item));
+				NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
 				nm.region = region;
 			}
+
 			g.navmesh_ids[E->get()] = nm;
 		}
 	}
@@ -564,15 +584,17 @@ void GridMap::_octant_enter_world(const OctantKey &p_key) {
 		RS::get_singleton()->instance_set_transform(g.multimesh_instances[i].instance, get_global_transform());
 	}
 
-	if (navigation && mesh_library.is_valid()) {
+	if (bake_navigation && mesh_library.is_valid()) {
 		for (Map<IndexKey, Octant::NavMesh>::Element *F = g.navmesh_ids.front(); F; F = F->next()) {
 			if (cell_map.has(F->key()) && F->get().region.is_valid() == false) {
 				Ref<NavigationMesh> nm = mesh_library->get_item_navmesh(cell_map[F->key()].item);
 				if (nm.is_valid()) {
 					RID region = NavigationServer3D::get_singleton()->region_create();
+					NavigationServer3D::get_singleton()->region_set_layers(region, navigation_layers);
 					NavigationServer3D::get_singleton()->region_set_navmesh(region, nm);
-					NavigationServer3D::get_singleton()->region_set_transform(region, navigation->get_global_transform() * F->get().xform);
-					NavigationServer3D::get_singleton()->region_set_map(region, navigation->get_rid());
+					NavigationServer3D::get_singleton()->region_set_transform(region, get_global_transform() * F->get().xform);
+					NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
+
 					F->get().region = region;
 				}
 			}
@@ -594,12 +616,10 @@ void GridMap::_octant_exit_world(const OctantKey &p_key) {
 		RS::get_singleton()->instance_set_scenario(g.multimesh_instances[i].instance, RID());
 	}
 
-	if (navigation) {
-		for (Map<IndexKey, Octant::NavMesh>::Element *F = g.navmesh_ids.front(); F; F = F->next()) {
-			if (F->get().region.is_valid()) {
-				NavigationServer3D::get_singleton()->free(F->get().region);
-				F->get().region = RID();
-			}
+	for (Map<IndexKey, Octant::NavMesh>::Element *F = g.navmesh_ids.front(); F; F = F->next()) {
+		if (F->get().region.is_valid()) {
+			NavigationServer3D::get_singleton()->free(F->get().region);
+			F->get().region = RID();
 		}
 	}
 }
@@ -635,16 +655,6 @@ void GridMap::_octant_clean_up(const OctantKey &p_key) {
 void GridMap::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_ENTER_WORLD: {
-			Node3D *c = this;
-			while (c) {
-				navigation = Object::cast_to<Navigation3D>(c);
-				if (navigation) {
-					break;
-				}
-
-				c = Object::cast_to<Node3D>(c->get_parent());
-			}
-
 			last_transform = get_global_transform();
 
 			for (Map<OctantKey, Octant *>::Element *E = octant_map.front(); E; E = E->next()) {
@@ -679,8 +689,6 @@ void GridMap::_notification(int p_what) {
 				_octant_exit_world(E->key());
 			}
 
-			navigation = nullptr;
-
 			//_queue_octants_dirty(MAP_DIRTY_INSTANCES|MAP_DIRTY_TRANSFORMS);
 			//_update_octants_callback();
 			//_update_area_instances();
@@ -785,6 +793,12 @@ void GridMap::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &GridMap::set_collision_layer_bit);
 	ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &GridMap::get_collision_layer_bit);
 
+	ClassDB::bind_method(D_METHOD("set_bake_navigation", "bake_navigation"), &GridMap::set_bake_navigation);
+	ClassDB::bind_method(D_METHOD("is_baking_navigation"), &GridMap::is_baking_navigation);
+
+	ClassDB::bind_method(D_METHOD("set_navigation_layers", "layers"), &GridMap::set_navigation_layers);
+	ClassDB::bind_method(D_METHOD("get_navigation_layers"), &GridMap::get_navigation_layers);
+
 	ClassDB::bind_method(D_METHOD("set_mesh_library", "mesh_library"), &GridMap::set_mesh_library);
 	ClassDB::bind_method(D_METHOD("get_mesh_library"), &GridMap::get_mesh_library);
 
@@ -838,6 +852,9 @@ void GridMap::_bind_methods() {
 	ADD_GROUP("Collision", "collision_");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
+	ADD_GROUP("Navigation", "");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "bake_navigation"), "set_bake_navigation", "is_baking_navigation");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
 
 	BIND_CONSTANT(INVALID_CELL_ITEM);
 

modules/gridmap/grid_map.h

@@ -31,7 +31,6 @@
 #ifndef GRID_MAP_H
 #define GRID_MAP_H
 
-#include "scene/3d/navigation_3d.h"
 #include "scene/3d/node_3d.h"
 #include "scene/resources/mesh_library.h"
 #include "scene/resources/multimesh.h"
@@ -135,6 +134,8 @@ class GridMap : public Node3D {
 
 	uint32_t collision_layer = 1;
 	uint32_t collision_mask = 1;
+	bool bake_navigation = false;
+	uint32_t navigation_layers = 1;
 
 	Transform last_transform;
 
@@ -145,7 +146,6 @@ class GridMap : public Node3D {
 	bool center_y = true;
 	bool center_z = true;
 	float cell_scale = 1.0;
-	Navigation3D *navigation = nullptr;
 
 	bool clip = false;
 	bool clip_above = true;
@@ -223,6 +223,12 @@ public:
 	void set_collision_mask_bit(int p_bit, bool p_value);
 	bool get_collision_mask_bit(int p_bit) const;
 
+	void set_bake_navigation(bool p_bake_navigation);
+	bool is_baking_navigation();
+
+	void set_navigation_layers(uint32_t p_layers);
+	uint32_t get_navigation_layers();
+
 	void set_mesh_library(const Ref<MeshLibrary> &p_mesh_library);
 	Ref<MeshLibrary> get_mesh_library() const;
 

scene/2d/navigation_2d.cpp

@@ -1,92 +0,0 @@
-/*************************************************************************/
-/*  navigation_2d.cpp                                                    */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* 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 "navigation_2d.h"
-#include "servers/navigation_server_2d.h"
-
-void Navigation2D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("get_rid"), &Navigation2D::get_rid);
-
-	ClassDB::bind_method(D_METHOD("get_simple_path", "start", "end", "optimize"), &Navigation2D::get_simple_path, DEFVAL(true));
-	ClassDB::bind_method(D_METHOD("get_closest_point", "to_point"), &Navigation2D::get_closest_point);
-	ClassDB::bind_method(D_METHOD("get_closest_point_owner", "to_point"), &Navigation2D::get_closest_point_owner);
-
-	ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &Navigation2D::set_cell_size);
-	ClassDB::bind_method(D_METHOD("get_cell_size"), &Navigation2D::get_cell_size);
-
-	ClassDB::bind_method(D_METHOD("set_edge_connection_margin", "margin"), &Navigation2D::set_edge_connection_margin);
-	ClassDB::bind_method(D_METHOD("get_edge_connection_margin"), &Navigation2D::get_edge_connection_margin);
-
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell_size"), "set_cell_size", "get_cell_size");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "edge_connection_margin"), "set_edge_connection_margin", "get_edge_connection_margin");
-}
-
-void Navigation2D::_notification(int p_what) {
-	switch (p_what) {
-		case NOTIFICATION_READY: {
-			NavigationServer2D::get_singleton()->map_set_active(map, true);
-		} break;
-		case NOTIFICATION_EXIT_TREE: {
-			NavigationServer2D::get_singleton()->map_set_active(map, false);
-		} break;
-	}
-}
-
-void Navigation2D::set_cell_size(float p_cell_size) {
-	cell_size = p_cell_size;
-	NavigationServer2D::get_singleton()->map_set_cell_size(map, cell_size);
-}
-
-void Navigation2D::set_edge_connection_margin(float p_edge_connection_margin) {
-	edge_connection_margin = p_edge_connection_margin;
-	NavigationServer2D::get_singleton()->map_set_edge_connection_margin(map, edge_connection_margin);
-}
-
-Vector<Vector2> Navigation2D::get_simple_path(const Vector2 &p_start, const Vector2 &p_end, bool p_optimize) const {
-	return NavigationServer2D::get_singleton()->map_get_path(map, p_start, p_end, p_optimize);
-}
-
-Vector2 Navigation2D::get_closest_point(const Vector2 &p_point) const {
-	return NavigationServer2D::get_singleton()->map_get_closest_point(map, p_point);
-}
-
-RID Navigation2D::get_closest_point_owner(const Vector2 &p_point) const {
-	return NavigationServer2D::get_singleton()->map_get_closest_point_owner(map, p_point);
-}
-
-Navigation2D::Navigation2D() {
-	map = NavigationServer2D::get_singleton()->map_create();
-	set_cell_size(10); // Ten pixels
-	set_edge_connection_margin(100);
-}
-
-Navigation2D::~Navigation2D() {
-	NavigationServer2D::get_singleton()->free(map);
-}

scene/2d/navigation_2d.h

@@ -1,71 +0,0 @@
-/*************************************************************************/
-/*  navigation_2d.h                                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* 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.                */
-/*************************************************************************/
-
-#ifndef NAVIGATION_2D_H
-#define NAVIGATION_2D_H
-
-#include "scene/2d/navigation_region_2d.h"
-#include "scene/2d/node_2d.h"
-
-class Navigation2D : public Node2D {
-	GDCLASS(Navigation2D, Node2D);
-
-	RID map;
-	real_t cell_size;
-	real_t edge_connection_margin;
-
-protected:
-	static void _bind_methods();
-	void _notification(int p_what);
-
-public:
-	RID get_rid() const {
-		return map;
-	}
-
-	void set_cell_size(float p_cell_size);
-	float get_cell_size() const {
-		return cell_size;
-	}
-
-	void set_edge_connection_margin(float p_edge_connection_margin);
-	float get_edge_connection_margin() const {
-		return edge_connection_margin;
-	}
-
-	Vector<Vector2> get_simple_path(const Vector2 &p_start, const Vector2 &p_end, bool p_optimize = true) const;
-	Vector2 get_closest_point(const Vector2 &p_point) const;
-	RID get_closest_point_owner(const Vector2 &p_point) const;
-
-	Navigation2D();
-	~Navigation2D();
-};
-
-#endif // NAVIGATION_2D_H

scene/2d/navigation_agent_2d.cpp

@@ -32,7 +32,6 @@
 
 #include "core/config/engine.h"
 #include "core/math/geometry_2d.h"
-#include "scene/2d/navigation_2d.h"
 #include "servers/navigation_server_2d.h"
 
 void NavigationAgent2D::_bind_methods() {
@@ -42,9 +41,6 @@ void NavigationAgent2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent2D::set_radius);
 	ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent2D::get_radius);
 
-	ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent2D::set_navigation_node);
-	ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent2D::get_navigation_node);
-
 	ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent2D::set_neighbor_dist);
 	ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent2D::get_neighbor_dist);
 
@@ -95,27 +91,10 @@ void NavigationAgent2D::_notification(int p_what) {
 
 			NavigationServer2D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
 
-			// Search the navigation node and set it
-			{
-				Navigation2D *nav = nullptr;
-				Node *p = get_parent();
-				while (p != nullptr) {
-					nav = Object::cast_to<Navigation2D>(p);
-					if (nav != nullptr) {
-						p = nullptr;
-					} else {
-						p = p->get_parent();
-					}
-				}
-
-				set_navigation(nav);
-			}
-
 			set_physics_process_internal(true);
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
 			agent_parent = nullptr;
-			set_navigation(nullptr);
 			set_physics_process_internal(false);
 		} break;
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
@@ -146,23 +125,13 @@ NavigationAgent2D::~NavigationAgent2D() {
 	agent = RID(); // Pointless
 }
 
-void NavigationAgent2D::set_navigation(Navigation2D *p_nav) {
-	if (navigation == p_nav) {
-		return; // Pointless
-	}
-
-	navigation = p_nav;
-	NavigationServer2D::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
-}
-
-void NavigationAgent2D::set_navigation_node(Node *p_nav) {
-	Navigation2D *nav = Object::cast_to<Navigation2D>(p_nav);
-	ERR_FAIL_COND(nav == nullptr);
-	set_navigation(nav);
+void NavigationAgent2D::set_navigable_layers(uint32_t p_layers) {
+	navigable_layers = p_layers;
+	update_navigation();
 }
 
-Node *NavigationAgent2D::get_navigation_node() const {
-	return Object::cast_to<Node>(navigation);
+uint32_t NavigationAgent2D::get_navigable_layers() const {
+	return navigable_layers;
 }
 
 void NavigationAgent2D::set_target_desired_distance(real_t p_dd) {
@@ -287,7 +256,7 @@ void NavigationAgent2D::update_navigation() {
 	if (agent_parent == nullptr) {
 		return;
 	}
-	if (navigation == nullptr) {
+	if (!agent_parent->is_inside_tree()) {
 		return;
 	}
 	if (update_frame_id == Engine::get_singleton()->get_physics_frames()) {
@@ -319,7 +288,7 @@ void NavigationAgent2D::update_navigation() {
 	}
 
 	if (reload_path) {
-		navigation_path = NavigationServer2D::get_singleton()->map_get_path(navigation->get_rid(), o, target_location, true);
+		navigation_path = NavigationServer2D::get_singleton()->map_get_path(agent_parent->get_world_2d()->get_navigation_map(), o, target_location, true, navigable_layers);
 		navigation_finished = false;
 		nav_path_index = 0;
 		emit_signal("path_changed");

scene/2d/navigation_agent_2d.h

@@ -35,16 +35,16 @@
 #include "scene/main/node.h"
 
 class Node2D;
-class Navigation2D;
 
 class NavigationAgent2D : public Node {
 	GDCLASS(NavigationAgent2D, Node);
 
 	Node2D *agent_parent = nullptr;
-	Navigation2D *navigation = nullptr;
 
 	RID agent;
 
+	uint32_t navigable_layers = 1;
+
 	real_t target_desired_distance = 1.0;
 	real_t radius;
 	real_t neighbor_dist;
@@ -74,18 +74,13 @@ public:
 	NavigationAgent2D();
 	virtual ~NavigationAgent2D();
 
-	void set_navigation(Navigation2D *p_nav);
-	const Navigation2D *get_navigation() const {
-		return navigation;
-	}
-
-	void set_navigation_node(Node *p_nav);
-	Node *get_navigation_node() const;
-
 	RID get_rid() const {
 		return agent;
 	}
 
+	void set_navigable_layers(uint32_t p_layers);
+	uint32_t get_navigable_layers() const;
+
 	void set_target_desired_distance(real_t p_dd);
 	real_t get_target_desired_distance() const {
 		return target_desired_distance;

scene/2d/navigation_obstacle_2d.cpp

@@ -31,48 +31,31 @@
 #include "navigation_obstacle_2d.h"
 
 #include "scene/2d/collision_shape_2d.h"
-#include "scene/2d/navigation_2d.h"
 #include "scene/2d/physics_body_2d.h"
 #include "servers/navigation_server_2d.h"
 
 void NavigationObstacle2D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle2D::set_navigation_node);
-	ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle2D::get_navigation_node);
 }
 
 void NavigationObstacle2D::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_READY: {
-			update_agent_shape();
-
-			// Search the navigation node and set it
-			{
-				Navigation2D *nav = nullptr;
-				Node *p = get_parent();
-				while (p != nullptr) {
-					nav = Object::cast_to<Navigation2D>(p);
-					if (nav != nullptr) {
-						p = nullptr;
-					} else {
-						p = p->get_parent();
-					}
-				}
-
-				set_navigation(nav);
-			}
-
 			set_physics_process_internal(true);
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
-			set_navigation(nullptr);
 			set_physics_process_internal(false);
 		} break;
+		case NOTIFICATION_PARENTED: {
+			parent_node2d = Object::cast_to<Node2D>(get_parent());
+			update_agent_shape();
+		} break;
+		case NOTIFICATION_UNPARENTED: {
+			parent_node2d = nullptr;
+		} break;
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
-			Node2D *node = Object::cast_to<Node2D>(get_parent());
-			if (node) {
-				NavigationServer2D::get_singleton()->agent_set_position(agent, node->get_global_transform().get_origin());
+			if (parent_node2d) {
+				NavigationServer2D::get_singleton()->agent_set_position(agent, parent_node2d->get_global_transform().get_origin());
 			}
-
 		} break;
 	}
 }
@@ -86,25 +69,6 @@ NavigationObstacle2D::~NavigationObstacle2D() {
 	agent = RID(); // Pointless
 }
 
-void NavigationObstacle2D::set_navigation(Navigation2D *p_nav) {
-	if (navigation == p_nav) {
-		return; // Pointless
-	}
-
-	navigation = p_nav;
-	NavigationServer2D::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
-}
-
-void NavigationObstacle2D::set_navigation_node(Node *p_nav) {
-	Navigation2D *nav = Object::cast_to<Navigation2D>(p_nav);
-	ERR_FAIL_COND(nav == nullptr);
-	set_navigation(nav);
-}
-
-Node *NavigationObstacle2D::get_navigation_node() const {
-	return Object::cast_to<Node>(navigation);
-}
-
 String NavigationObstacle2D::get_configuration_warning() const {
 	String warning = Node::get_configuration_warning();
 
@@ -119,40 +83,37 @@ String NavigationObstacle2D::get_configuration_warning() const {
 }
 
 void NavigationObstacle2D::update_agent_shape() {
-	Node *node = get_parent();
-
-	// Estimate the radius of this physics body
-	real_t radius = 0.0;
-	for (int i(0); i < node->get_child_count(); i++) {
-		// For each collision shape
-		CollisionShape2D *cs = Object::cast_to<CollisionShape2D>(node->get_child(i));
-		if (cs) {
-			// Take the distance between the Body center to the shape center
-			real_t r = cs->get_transform().get_origin().length();
-			if (cs->get_shape().is_valid()) {
-				// and add the enclosing shape radius
-				r += cs->get_shape()->get_enclosing_radius();
+	if (parent_node2d) {
+		// Estimate the radius of this physics body
+		real_t radius = 0.0;
+		for (int i(0); i < parent_node2d->get_child_count(); i++) {
+			// For each collision shape
+			CollisionShape2D *cs = Object::cast_to<CollisionShape2D>(parent_node2d->get_child(i));
+			if (cs) {
+				// Take the distance between the Body center to the shape center
+				real_t r = cs->get_transform().get_origin().length();
+				if (cs->get_shape().is_valid()) {
+					// and add the enclosing shape radius
+					r += cs->get_shape()->get_enclosing_radius();
+				}
+				Size2 s = cs->get_global_transform().get_scale();
+				r *= MAX(s.x, s.y);
+				// Takes the biggest radius
+				radius = MAX(radius, r);
 			}
-			Size2 s = cs->get_global_transform().get_scale();
-			r *= MAX(s.x, s.y);
-			// Takes the biggest radius
-			radius = MAX(radius, r);
 		}
-	}
-	Node2D *node_2d = Object::cast_to<Node2D>(node);
-	if (node_2d) {
-		Vector2 s = node_2d->get_global_transform().get_scale();
+		Vector2 s = parent_node2d->get_global_transform().get_scale();
 		radius *= MAX(s.x, s.y);
-	}
 
-	if (radius == 0.0) {
-		radius = 1.0; // Never a 0 radius
-	}
+		if (radius == 0.0) {
+			radius = 1.0; // Never a 0 radius
+		}
 
-	// Initialize the Agent as an object
-	NavigationServer2D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
-	NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, 0);
-	NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, 0.0);
-	NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
-	NavigationServer2D::get_singleton()->agent_set_max_speed(agent, 0.0);
+		// Initialize the Agent as an object
+		NavigationServer2D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
+		NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, 0);
+		NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, 0.0);
+		NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
+		NavigationServer2D::get_singleton()->agent_set_max_speed(agent, 0.0);
+	}
 }

scene/2d/navigation_obstacle_2d.h

@@ -31,15 +31,13 @@
 #ifndef NAVIGATION_OBSTACLE_2D_H
 #define NAVIGATION_OBSTACLE_2D_H
 
+#include "scene/2d/node_2d.h"
 #include "scene/main/node.h"
 
-class Navigation2D;
-
 class NavigationObstacle2D : public Node {
 	GDCLASS(NavigationObstacle2D, Node);
 
-	Navigation2D *navigation = nullptr;
-
+	Node2D *parent_node2d = nullptr;
 	RID agent;
 
 protected:
@@ -50,14 +48,6 @@ public:
 	NavigationObstacle2D();
 	virtual ~NavigationObstacle2D();
 
-	void set_navigation(Navigation2D *p_nav);
-	const Navigation2D *get_navigation() const {
-		return navigation;
-	}
-
-	void set_navigation_node(Node *p_nav);
-	Node *get_navigation_node() const;
-
 	RID get_rid() const {
 		return agent;
 	}

scene/2d/navigation_region_2d.cpp

@@ -34,7 +34,6 @@
 #include "core/core_string_names.h"
 #include "core/math/geometry_2d.h"
 #include "core/os/mutex.h"
-#include "navigation_2d.h"
 #include "servers/navigation_server_2d.h"
 
 #include "thirdparty/misc/polypartition.h"
@@ -366,9 +365,7 @@ void NavigationRegion2D::set_enabled(bool p_enabled) {
 	if (!enabled) {
 		NavigationServer2D::get_singleton()->region_set_map(region, RID());
 	} else {
-		if (navigation) {
-			NavigationServer2D::get_singleton()->region_set_map(region, navigation->get_rid());
-		}
+		NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map());
 	}
 
 	if (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint()) {
@@ -380,6 +377,14 @@ bool NavigationRegion2D::is_enabled() const {
 	return enabled;
 }
 
+void NavigationRegion2D::set_layers(uint32_t p_layers) {
+	NavigationServer2D::get_singleton()->region_set_layers(region, p_layers);
+}
+
+uint32_t NavigationRegion2D::get_layers() const {
+	return NavigationServer2D::get_singleton()->region_get_layers(region);
+}
+
 /////////////////////////////
 #ifdef TOOLS_ENABLED
 Rect2 NavigationRegion2D::_edit_get_rect() const {
@@ -394,29 +399,15 @@ bool NavigationRegion2D::_edit_is_selected_on_click(const Point2 &p_point, doubl
 void NavigationRegion2D::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_ENTER_TREE: {
-			Node2D *c = this;
-			while (c) {
-				navigation = Object::cast_to<Navigation2D>(c);
-				if (navigation) {
-					if (enabled) {
-						NavigationServer2D::get_singleton()->region_set_map(region, navigation->get_rid());
-					}
-					break;
-				}
-
-				c = Object::cast_to<Node2D>(c->get_parent());
+			if (enabled) {
+				NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map());
 			}
-
 		} break;
 		case NOTIFICATION_TRANSFORM_CHANGED: {
 			NavigationServer2D::get_singleton()->region_set_transform(region, get_global_transform());
-
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
-			if (navigation) {
-				NavigationServer2D::get_singleton()->region_set_map(region, RID());
-			}
-			navigation = nullptr;
+			NavigationServer2D::get_singleton()->region_set_map(region, RID());
 		} break;
 		case NOTIFICATION_DRAW: {
 			if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint()) && navpoly.is_valid()) {
@@ -507,18 +498,8 @@ String NavigationRegion2D::get_configuration_warning() const {
 		}
 		warning += TTR("A NavigationPolygon resource must be set or created for this node to work. Please set a property or draw a polygon.");
 	}
-	const Node2D *c = this;
-	while (c) {
-		if (Object::cast_to<Navigation2D>(c)) {
-			return warning;
-		}
 
-		c = Object::cast_to<Node2D>(c->get_parent());
-	}
-	if (!warning.is_empty()) {
-		warning += "\n\n";
-	}
-	return warning + TTR("NavigationRegion2D must be a child or grandchild to a Navigation2D node. It only provides navigation data.");
+	return warning;
 }
 
 void NavigationRegion2D::_bind_methods() {
@@ -528,10 +509,14 @@ void NavigationRegion2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationRegion2D::set_enabled);
 	ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationRegion2D::is_enabled);
 
+	ClassDB::bind_method(D_METHOD("set_layers", "layers"), &NavigationRegion2D::set_layers);
+	ClassDB::bind_method(D_METHOD("get_layers"), &NavigationRegion2D::get_layers);
+
 	ClassDB::bind_method(D_METHOD("_navpoly_changed"), &NavigationRegion2D::_navpoly_changed);
 
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "navpoly", PROPERTY_HINT_RESOURCE_TYPE, "NavigationPolygon"), "set_navigation_polygon", "get_navigation_polygon");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_layers", "get_layers");
 }
 
 NavigationRegion2D::NavigationRegion2D() {

scene/2d/navigation_region_2d.h

@@ -91,14 +91,11 @@ public:
 	~NavigationPolygon() {}
 };
 
-class Navigation2D;
-
 class NavigationRegion2D : public Node2D {
 	GDCLASS(NavigationRegion2D, Node2D);
 
 	bool enabled = true;
 	RID region;
-	Navigation2D *navigation = nullptr;
 	Ref<NavigationPolygon> navpoly;
 
 	void _navpoly_changed();
@@ -116,6 +113,9 @@ public:
 	void set_enabled(bool p_enabled);
 	bool is_enabled() const;
 
+	void set_layers(uint32_t p_layers);
+	uint32_t get_layers() const;
+
 	void set_navigation_polygon(const Ref<NavigationPolygon> &p_navpoly);
 	Ref<NavigationPolygon> get_navigation_polygon() const;
 

scene/2d/tile_map.cpp

@@ -48,16 +48,6 @@ int TileMap::_get_quadrant_size() const {
 void TileMap::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_ENTER_TREE: {
-			Node2D *c = this;
-			while (c) {
-				navigation = Object::cast_to<Navigation2D>(c);
-				if (navigation) {
-					break;
-				}
-
-				c = Object::cast_to<Node2D>(c->get_parent());
-			}
-
 			if (use_parent) {
 				_clear_quadrants();
 				collision_parent = Object::cast_to<CollisionObject2D>(get_parent());
@@ -77,12 +67,10 @@ void TileMap::_notification(int p_what) {
 			_update_quadrant_space(RID());
 			for (Map<PosKey, Quadrant>::Element *E = quadrant_map.front(); E; E = E->next()) {
 				Quadrant &q = E->get();
-				if (navigation) {
-					for (Map<PosKey, Quadrant::NavPoly>::Element *F = q.navpoly_ids.front(); F; F = F->next()) {
-						NavigationServer2D::get_singleton()->region_set_map(F->get().region, RID());
-					}
-					q.navpoly_ids.clear();
+				for (Map<PosKey, Quadrant::NavPoly>::Element *F = q.navpoly_ids.front(); F; F = F->next()) {
+					NavigationServer2D::get_singleton()->region_set_map(F->get().region, RID());
 				}
+				q.navpoly_ids.clear();
 
 				if (collision_parent) {
 					collision_parent->remove_shape_owner(q.shape_owner_id);
@@ -96,8 +84,6 @@ void TileMap::_notification(int p_what) {
 			}
 
 			collision_parent = nullptr;
-			navigation = nullptr;
-
 		} break;
 
 		case NOTIFICATION_TRANSFORM_CHANGED: {
@@ -135,11 +121,6 @@ void TileMap::_update_quadrant_transform() {
 		local_transform = get_transform();
 	}
 
-	Transform2D nav_rel;
-	if (navigation) {
-		nav_rel = get_relative_transform_to_parent(navigation);
-	}
-
 	for (Map<PosKey, Quadrant>::Element *E = quadrant_map.front(); E; E = E->next()) {
 		Quadrant &q = E->get();
 		Transform2D xform;
@@ -150,9 +131,9 @@ void TileMap::_update_quadrant_transform() {
 			PhysicsServer2D::get_singleton()->body_set_state(q.body, PhysicsServer2D::BODY_STATE_TRANSFORM, xform);
 		}
 
-		if (navigation) {
+		if (bake_navigation) {
 			for (Map<PosKey, Quadrant::NavPoly>::Element *F = q.navpoly_ids.front(); F; F = F->next()) {
-				NavigationServer2D::get_singleton()->region_set_transform(F->get().region, nav_rel * F->get().xform);
+				NavigationServer2D::get_singleton()->region_set_transform(F->get().region, F->get().xform);
 			}
 		}
 
@@ -315,11 +296,6 @@ void TileMap::update_dirty_quadrants() {
 	RenderingServer *vs = RenderingServer::get_singleton();
 	PhysicsServer2D *ps = PhysicsServer2D::get_singleton();
 	Vector2 tofs = get_cell_draw_offset();
-	Transform2D nav_rel;
-	if (navigation) {
-		nav_rel = get_relative_transform_to_parent(navigation);
-	}
-
 	Vector2 qofs;
 
 	SceneTree *st = SceneTree::get_singleton();
@@ -352,12 +328,10 @@ void TileMap::update_dirty_quadrants() {
 		}
 		int shape_idx = 0;
 
-		if (navigation) {
-			for (Map<PosKey, Quadrant::NavPoly>::Element *E = q.navpoly_ids.front(); E; E = E->next()) {
-				NavigationServer2D::get_singleton()->region_set_map(E->get().region, RID());
-			}
-			q.navpoly_ids.clear();
+		for (Map<PosKey, Quadrant::NavPoly>::Element *E = q.navpoly_ids.front(); E; E = E->next()) {
+			NavigationServer2D::get_singleton()->region_set_map(E->get().region, RID());
 		}
+		q.navpoly_ids.clear();
 
 		for (Map<PosKey, Quadrant::Occluder>::Element *E = q.occluder_instances.front(); E; E = E->next()) {
 			RS::get_singleton()->free(E->get().id);
@@ -579,7 +553,7 @@ void TileMap::update_dirty_quadrants() {
 				vs->canvas_item_add_set_transform(debug_canvas_item, Transform2D());
 			}
 
-			if (navigation) {
+			if (bake_navigation) {
 				Ref<NavigationPolygon> navpoly;
 				Vector2 npoly_ofs;
 				if (tile_set->tile_get_tile_mode(c.id) == TileSet::AUTO_TILE || tile_set->tile_get_tile_mode(c.id) == TileSet::ATLAS_TILE) {
@@ -596,8 +570,8 @@ void TileMap::update_dirty_quadrants() {
 					_fix_cell_transform(xform, c, npoly_ofs, s);
 
 					RID region = NavigationServer2D::get_singleton()->region_create();
-					NavigationServer2D::get_singleton()->region_set_map(region, navigation->get_rid());
-					NavigationServer2D::get_singleton()->region_set_transform(region, nav_rel * xform);
+					NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map());
+					NavigationServer2D::get_singleton()->region_set_transform(region, xform);
 					NavigationServer2D::get_singleton()->region_set_navpoly(region, navpoly);
 
 					Quadrant::NavPoly np;
@@ -787,12 +761,10 @@ void TileMap::_erase_quadrant(Map<PosKey, Quadrant>::Element *Q) {
 		dirty_quadrant_list.remove(&q.dirty_list);
 	}
 
-	if (navigation) {
-		for (Map<PosKey, Quadrant::NavPoly>::Element *E = q.navpoly_ids.front(); E; E = E->next()) {
-			NavigationServer2D::get_singleton()->region_set_map(E->get().region, RID());
-		}
-		q.navpoly_ids.clear();
+	for (Map<PosKey, Quadrant::NavPoly>::Element *E = q.navpoly_ids.front(); E; E = E->next()) {
+		NavigationServer2D::get_singleton()->region_set_map(E->get().region, RID());
 	}
+	q.navpoly_ids.clear();
 
 	for (Map<PosKey, Quadrant::Occluder>::Element *E = q.occluder_instances.front(); E; E = E->next()) {
 		RS::get_singleton()->free(E->get().id);
@@ -1360,6 +1332,17 @@ float TileMap::get_collision_bounce() const {
 	return bounce;
 }
 
+void TileMap::set_bake_navigation(bool p_bake_navigation) {
+	bake_navigation = p_bake_navigation;
+	for (Map<PosKey, Quadrant>::Element *F = quadrant_map.front(); F; F = F->next()) {
+		_make_quadrant_dirty(F);
+	}
+}
+
+bool TileMap::is_baking_navigation() {
+	return bake_navigation;
+}
+
 uint32_t TileMap::get_collision_layer() const {
 	return collision_layer;
 }
@@ -1784,6 +1767,9 @@ void TileMap::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_collision_bounce", "value"), &TileMap::set_collision_bounce);
 	ClassDB::bind_method(D_METHOD("get_collision_bounce"), &TileMap::get_collision_bounce);
 
+	ClassDB::bind_method(D_METHOD("set_bake_navigation", "bake_navigation"), &TileMap::set_bake_navigation);
+	ClassDB::bind_method(D_METHOD("is_baking_navigation"), &TileMap::is_baking_navigation);
+
 	ClassDB::bind_method(D_METHOD("set_occluder_light_mask", "mask"), &TileMap::set_occluder_light_mask);
 	ClassDB::bind_method(D_METHOD("get_occluder_light_mask"), &TileMap::get_occluder_light_mask);
 
@@ -1842,6 +1828,9 @@ void TileMap::_bind_methods() {
 	ADD_GROUP("Occluder", "occluder_");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "occluder_light_mask", PROPERTY_HINT_LAYERS_2D_RENDER), "set_occluder_light_mask", "get_occluder_light_mask");
 
+	ADD_GROUP("Navigation", "");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "bake_navigation"), "set_bake_navigation", "is_baking_navigation");
+
 	ADD_PROPERTY_DEFAULT("format", FORMAT_1);
 
 	ADD_SIGNAL(MethodInfo("settings_changed"));

scene/2d/tile_map.h

@@ -33,7 +33,6 @@
 
 #include "core/templates/self_list.h"
 #include "core/templates/vset.h"
-#include "scene/2d/navigation_2d.h"
 #include "scene/2d/node_2d.h"
 #include "scene/resources/tile_set.h"
 
@@ -78,7 +77,7 @@ private:
 	bool use_parent = false;
 	CollisionObject2D *collision_parent = nullptr;
 	bool use_kinematic = false;
-	Navigation2D *navigation = nullptr;
+	bool bake_navigation = false;
 
 	union PosKey {
 		struct {
@@ -295,6 +294,9 @@ public:
 	void set_collision_bounce(float p_bounce);
 	float get_collision_bounce() const;
 
+	void set_bake_navigation(bool p_bake_navigation);
+	bool is_baking_navigation();
+
 	void set_mode(Mode p_mode);
 	Mode get_mode() const;
 

scene/3d/navigation_3d.cpp

@@ -1,117 +0,0 @@
-/*************************************************************************/
-/*  navigation_3d.cpp                                                    */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* 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 "navigation_3d.h"
-
-#include "servers/navigation_server_3d.h"
-
-Vector<Vector3> Navigation3D::get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize) const {
-	return NavigationServer3D::get_singleton()->map_get_path(map, p_start, p_end, p_optimize);
-}
-
-Vector3 Navigation3D::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, bool p_use_collision) const {
-	return NavigationServer3D::get_singleton()->map_get_closest_point_to_segment(map, p_from, p_to, p_use_collision);
-}
-
-Vector3 Navigation3D::get_closest_point(const Vector3 &p_point) const {
-	return NavigationServer3D::get_singleton()->map_get_closest_point(map, p_point);
-}
-
-Vector3 Navigation3D::get_closest_point_normal(const Vector3 &p_point) const {
-	return NavigationServer3D::get_singleton()->map_get_closest_point_normal(map, p_point);
-}
-
-RID Navigation3D::get_closest_point_owner(const Vector3 &p_point) const {
-	return NavigationServer3D::get_singleton()->map_get_closest_point_owner(map, p_point);
-}
-
-void Navigation3D::set_up_vector(const Vector3 &p_up) {
-	up = p_up;
-	NavigationServer3D::get_singleton()->map_set_up(map, up);
-}
-
-Vector3 Navigation3D::get_up_vector() const {
-	return up;
-}
-
-void Navigation3D::set_cell_size(float p_cell_size) {
-	cell_size = p_cell_size;
-	NavigationServer3D::get_singleton()->map_set_cell_size(map, cell_size);
-}
-
-void Navigation3D::set_edge_connection_margin(float p_edge_connection_margin) {
-	edge_connection_margin = p_edge_connection_margin;
-	NavigationServer3D::get_singleton()->map_set_edge_connection_margin(map, edge_connection_margin);
-}
-
-void Navigation3D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("get_rid"), &Navigation3D::get_rid);
-
-	ClassDB::bind_method(D_METHOD("get_simple_path", "start", "end", "optimize"), &Navigation3D::get_simple_path, DEFVAL(true));
-	ClassDB::bind_method(D_METHOD("get_closest_point_to_segment", "start", "end", "use_collision"), &Navigation3D::get_closest_point_to_segment, DEFVAL(false));
-	ClassDB::bind_method(D_METHOD("get_closest_point", "to_point"), &Navigation3D::get_closest_point);
-	ClassDB::bind_method(D_METHOD("get_closest_point_normal", "to_point"), &Navigation3D::get_closest_point_normal);
-	ClassDB::bind_method(D_METHOD("get_closest_point_owner", "to_point"), &Navigation3D::get_closest_point_owner);
-
-	ClassDB::bind_method(D_METHOD("set_up_vector", "up"), &Navigation3D::set_up_vector);
-	ClassDB::bind_method(D_METHOD("get_up_vector"), &Navigation3D::get_up_vector);
-
-	ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &Navigation3D::set_cell_size);
-	ClassDB::bind_method(D_METHOD("get_cell_size"), &Navigation3D::get_cell_size);
-
-	ClassDB::bind_method(D_METHOD("set_edge_connection_margin", "margin"), &Navigation3D::set_edge_connection_margin);
-	ClassDB::bind_method(D_METHOD("get_edge_connection_margin"), &Navigation3D::get_edge_connection_margin);
-
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "up_vector"), "set_up_vector", "get_up_vector");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell_size"), "set_cell_size", "get_cell_size");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "edge_connection_margin"), "set_edge_connection_margin", "get_edge_connection_margin");
-}
-
-void Navigation3D::_notification(int p_what) {
-	switch (p_what) {
-		case NOTIFICATION_READY: {
-			NavigationServer3D::get_singleton()->map_set_active(map, true);
-		} break;
-		case NOTIFICATION_EXIT_TREE: {
-			NavigationServer3D::get_singleton()->map_set_active(map, false);
-		} break;
-	}
-}
-
-Navigation3D::Navigation3D() {
-	map = NavigationServer3D::get_singleton()->map_create();
-
-	set_cell_size(0.3);
-	set_edge_connection_margin(5.0); // Five meters, depends a lot on the agent's radius
-}
-
-Navigation3D::~Navigation3D() {
-	NavigationServer3D::get_singleton()->free(map);
-}

scene/3d/navigation_3d.h

@@ -1,78 +0,0 @@
-/*************************************************************************/
-/*  navigation_3d.h                                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* 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.                */
-/*************************************************************************/
-
-#ifndef NAVIGATION_3D_H
-#define NAVIGATION_3D_H
-
-#include "scene/3d/navigation_region_3d.h"
-#include "scene/3d/node_3d.h"
-
-class Navigation3D : public Node3D {
-	GDCLASS(Navigation3D, Node3D);
-
-	RID map;
-
-	Vector3 up = Vector3(0, 1, 0);
-	real_t cell_size;
-	real_t edge_connection_margin;
-
-protected:
-	static void _bind_methods();
-	void _notification(int p_what);
-
-public:
-	RID get_rid() const {
-		return map;
-	}
-
-	void set_up_vector(const Vector3 &p_up);
-	Vector3 get_up_vector() const;
-
-	void set_cell_size(float p_cell_size);
-	float get_cell_size() const {
-		return cell_size;
-	}
-
-	void set_edge_connection_margin(float p_edge_connection_margin);
-	float get_edge_connection_margin() const {
-		return edge_connection_margin;
-	}
-
-	Vector<Vector3> get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize = true) const;
-	Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, bool p_use_collision = false) const;
-	Vector3 get_closest_point(const Vector3 &p_point) const;
-	Vector3 get_closest_point_normal(const Vector3 &p_point) const;
-	RID get_closest_point_owner(const Vector3 &p_point) const;
-
-	Navigation3D();
-	~Navigation3D();
-};
-
-#endif // NAVIGATION_H

scene/3d/navigation_agent_3d.cpp

@@ -31,7 +31,6 @@
 #include "navigation_agent_3d.h"
 
 #include "core/config/engine.h"
-#include "scene/3d/navigation_3d.h"
 #include "servers/navigation_server_3d.h"
 
 void NavigationAgent3D::_bind_methods() {
@@ -47,9 +46,6 @@ void NavigationAgent3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent3D::set_ignore_y);
 	ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent3D::get_ignore_y);
 
-	ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent3D::set_navigation_node);
-	ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent3D::get_navigation_node);
-
 	ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent3D::set_neighbor_dist);
 	ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent3D::get_neighbor_dist);
 
@@ -101,28 +97,10 @@ void NavigationAgent3D::_notification(int p_what) {
 			agent_parent = Object::cast_to<Node3D>(get_parent());
 
 			NavigationServer3D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
-
-			// Search the navigation node and set it
-			{
-				Navigation3D *nav = nullptr;
-				Node *p = get_parent();
-				while (p != nullptr) {
-					nav = Object::cast_to<Navigation3D>(p);
-					if (nav != nullptr) {
-						p = nullptr;
-					} else {
-						p = p->get_parent();
-					}
-				}
-
-				set_navigation(nav);
-			}
-
 			set_physics_process_internal(true);
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
 			agent_parent = nullptr;
-			set_navigation(nullptr);
 			set_physics_process_internal(false);
 		} break;
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
@@ -154,25 +132,6 @@ NavigationAgent3D::~NavigationAgent3D() {
 	agent = RID(); // Pointless
 }
 
-void NavigationAgent3D::set_navigation(Navigation3D *p_nav) {
-	if (navigation == p_nav) {
-		return; // Pointless
-	}
-
-	navigation = p_nav;
-	NavigationServer3D::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
-}
-
-void NavigationAgent3D::set_navigation_node(Node *p_nav) {
-	Navigation3D *nav = Object::cast_to<Navigation3D>(p_nav);
-	ERR_FAIL_COND(nav == nullptr);
-	set_navigation(nav);
-}
-
-Node *NavigationAgent3D::get_navigation_node() const {
-	return Object::cast_to<Node>(navigation);
-}
-
 void NavigationAgent3D::set_target_desired_distance(real_t p_dd) {
 	target_desired_distance = p_dd;
 }
@@ -303,7 +262,7 @@ void NavigationAgent3D::update_navigation() {
 	if (agent_parent == nullptr) {
 		return;
 	}
-	if (navigation == nullptr) {
+	if (!agent_parent->is_inside_tree()) {
 		return;
 	}
 	if (update_frame_id == Engine::get_singleton()->get_physics_frames()) {
@@ -337,7 +296,7 @@ void NavigationAgent3D::update_navigation() {
 	}
 
 	if (reload_path) {
-		navigation_path = NavigationServer3D::get_singleton()->map_get_path(navigation->get_rid(), o, target_location, true);
+		navigation_path = NavigationServer3D::get_singleton()->map_get_path(agent_parent->get_world_3d()->get_navigation_map(), o, target_location, true);
 		navigation_finished = false;
 		nav_path_index = 0;
 		emit_signal("path_changed");

scene/3d/navigation_agent_3d.h

@@ -35,13 +35,11 @@
 #include "scene/main/node.h"
 
 class Node3D;
-class Navigation3D;
 
 class NavigationAgent3D : public Node {
 	GDCLASS(NavigationAgent3D, Node);
 
 	Node3D *agent_parent = nullptr;
-	Navigation3D *navigation = nullptr;
 
 	RID agent;
 
@@ -76,14 +74,6 @@ public:
 	NavigationAgent3D();
 	virtual ~NavigationAgent3D();
 
-	void set_navigation(Navigation3D *p_nav);
-	const Navigation3D *get_navigation() const {
-		return navigation;
-	}
-
-	void set_navigation_node(Node *p_nav);
-	Node *get_navigation_node() const;
-
 	RID get_rid() const {
 		return agent;
 	}

scene/3d/navigation_obstacle_3d.cpp

@@ -31,55 +31,38 @@
 #include "navigation_obstacle_3d.h"
 
 #include "scene/3d/collision_shape_3d.h"
-#include "scene/3d/navigation_3d.h"
 #include "scene/3d/physics_body_3d.h"
 #include "servers/navigation_server_3d.h"
 
 void NavigationObstacle3D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle3D::set_navigation_node);
-	ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle3D::get_navigation_node);
 }
 
 void NavigationObstacle3D::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_READY: {
-			update_agent_shape();
-
-			// Search the navigation node and set it
-			{
-				Navigation3D *nav = nullptr;
-				Node *p = get_parent();
-				while (p != nullptr) {
-					nav = Object::cast_to<Navigation3D>(p);
-					if (nav != nullptr) {
-						p = nullptr;
-					} else {
-						p = p->get_parent();
-					}
-				}
-
-				set_navigation(nav);
-			}
-
 			set_physics_process_internal(true);
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
-			set_navigation(nullptr);
 			set_physics_process_internal(false);
 		} break;
+		case NOTIFICATION_PARENTED: {
+			parent_node3d = Object::cast_to<Node3D>(get_parent());
+			update_agent_shape();
+		} break;
+		case NOTIFICATION_UNPARENTED: {
+			parent_node3d = nullptr;
+		} break;
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
-			Node3D *spatial = Object::cast_to<Node3D>(get_parent());
-			if (spatial) {
-				NavigationServer3D::get_singleton()->agent_set_position(agent, spatial->get_global_transform().origin);
-			}
-
-			PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent());
-			if (rigid) {
-				Vector3 v = rigid->get_linear_velocity();
-				NavigationServer3D::get_singleton()->agent_set_velocity(agent, v);
-				NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, v);
+			if (parent_node3d) {
+				NavigationServer3D::get_singleton()->agent_set_position(agent, parent_node3d->get_global_transform().origin);
+
+				PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent());
+				if (rigid) {
+					Vector3 v = rigid->get_linear_velocity();
+					NavigationServer3D::get_singleton()->agent_set_velocity(agent, v);
+					NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, v);
+				}
 			}
-
 		} break;
 	}
 }
@@ -93,29 +76,10 @@ NavigationObstacle3D::~NavigationObstacle3D() {
 	agent = RID(); // Pointless
 }
 
-void NavigationObstacle3D::set_navigation(Navigation3D *p_nav) {
-	if (navigation == p_nav) {
-		return; // Pointless
-	}
-
-	navigation = p_nav;
-	NavigationServer3D::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
-}
-
-void NavigationObstacle3D::set_navigation_node(Node *p_nav) {
-	Navigation3D *nav = Object::cast_to<Navigation3D>(p_nav);
-	ERR_FAIL_COND(nav == nullptr);
-	set_navigation(nav);
-}
-
-Node *NavigationObstacle3D::get_navigation_node() const {
-	return Object::cast_to<Node>(navigation);
-}
-
 String NavigationObstacle3D::get_configuration_warning() const {
 	String warning = Node::get_configuration_warning();
 
-	if (!Object::cast_to<Node3D>(get_parent())) {
+	if (!parent_node3d) {
 		if (!warning.is_empty()) {
 			warning += "\n\n";
 		}
@@ -126,40 +90,38 @@ String NavigationObstacle3D::get_configuration_warning() const {
 }
 
 void NavigationObstacle3D::update_agent_shape() {
-	Node *node = get_parent();
-
-	// Estimate the radius of this physics body
-	real_t radius = 0.0;
-	for (int i(0); i < node->get_child_count(); i++) {
-		// For each collision shape
-		CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(node->get_child(i));
-		if (cs) {
-			// Take the distance between the Body center to the shape center
-			real_t r = cs->get_transform().origin.length();
-			if (cs->get_shape().is_valid()) {
-				// and add the enclosing shape radius
-				r += cs->get_shape()->get_enclosing_radius();
+	if (parent_node3d) {
+		// Estimate the radius of this physics body
+		real_t radius = 0.0;
+		for (int i(0); i < parent_node3d->get_child_count(); i++) {
+			// For each collision shape
+			CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(parent_node3d->get_child(i));
+			if (cs) {
+				// Take the distance between the Body center to the shape center
+				real_t r = cs->get_transform().origin.length();
+				if (cs->get_shape().is_valid()) {
+					// and add the enclosing shape radius
+					r += cs->get_shape()->get_enclosing_radius();
+				}
+				Vector3 s = cs->get_global_transform().basis.get_scale();
+				r *= MAX(s.x, MAX(s.y, s.z));
+				// Takes the biggest radius
+				radius = MAX(radius, r);
 			}
-			Vector3 s = cs->get_global_transform().basis.get_scale();
-			r *= MAX(s.x, MAX(s.y, s.z));
-			// Takes the biggest radius
-			radius = MAX(radius, r);
 		}
-	}
-	Node3D *spa = Object::cast_to<Node3D>(node);
-	if (spa) {
-		Vector3 s = spa->get_global_transform().basis.get_scale();
+
+		Vector3 s = parent_node3d->get_global_transform().basis.get_scale();
 		radius *= MAX(s.x, MAX(s.y, s.z));
-	}
 
-	if (radius == 0.0) {
-		radius = 1.0; // Never a 0 radius
-	}
+		if (radius == 0.0) {
+			radius = 1.0; // Never a 0 radius
+		}
 
-	// Initialize the Agent as an object
-	NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
-	NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
-	NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
-	NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
-	NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
+		// Initialize the Agent as an object
+		NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
+		NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
+		NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
+		NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
+		NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
+	}
 }

scene/3d/navigation_obstacle_3d.h

@@ -31,15 +31,13 @@
 #ifndef NAVIGATION_OBSTACLE_H
 #define NAVIGATION_OBSTACLE_H
 
+#include "scene/3d/node_3d.h"
 #include "scene/main/node.h"
 
-class Navigation3D;
-
 class NavigationObstacle3D : public Node {
 	GDCLASS(NavigationObstacle3D, Node);
 
-	Navigation3D *navigation = nullptr;
-
+	Node3D *parent_node3d = nullptr;
 	RID agent;
 
 protected:
@@ -50,14 +48,6 @@ public:
 	NavigationObstacle3D();
 	virtual ~NavigationObstacle3D();
 
-	void set_navigation(Navigation3D *p_nav);
-	const Navigation3D *get_navigation() const {
-		return navigation;
-	}
-
-	void set_navigation_node(Node *p_nav);
-	Node *get_navigation_node() const;
-
 	RID get_rid() const {
 		return agent;
 	}

scene/3d/navigation_region_3d.cpp

@@ -32,7 +32,6 @@
 
 #include "core/os/thread.h"
 #include "mesh_instance_3d.h"
-#include "navigation_3d.h"
 #include "servers/navigation_server_3d.h"
 
 void NavigationRegion3D::set_enabled(bool p_enabled) {
@@ -48,9 +47,7 @@ void NavigationRegion3D::set_enabled(bool p_enabled) {
 	if (!enabled) {
 		NavigationServer3D::get_singleton()->region_set_map(region, RID());
 	} else {
-		if (navigation) {
-			NavigationServer3D::get_singleton()->region_set_map(region, navigation->get_rid());
-		}
+		NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
 	}
 
 	if (debug_view) {
@@ -69,22 +66,21 @@ bool NavigationRegion3D::is_enabled() const {
 	return enabled;
 }
 
+void NavigationRegion3D::set_layers(uint32_t p_layers) {
+	NavigationServer3D::get_singleton()->region_set_layers(region, p_layers);
+}
+
+uint32_t NavigationRegion3D::get_layers() const {
+	return NavigationServer3D::get_singleton()->region_get_layers(region);
+}
+
 /////////////////////////////
 
 void NavigationRegion3D::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_ENTER_TREE: {
-			Node3D *c = this;
-			while (c) {
-				navigation = Object::cast_to<Navigation3D>(c);
-				if (navigation) {
-					if (enabled) {
-						NavigationServer3D::get_singleton()->region_set_map(region, navigation->get_rid());
-					}
-					break;
-				}
-
-				c = c->get_parent_spatial();
+			if (enabled) {
+				NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
 			}
 
 			if (navmesh.is_valid() && get_tree()->is_debugging_navigation_hint()) {
@@ -105,15 +101,12 @@ void NavigationRegion3D::_notification(int p_what) {
 
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
-			if (navigation) {
-				NavigationServer3D::get_singleton()->region_set_map(region, RID());
-			}
+			NavigationServer3D::get_singleton()->region_set_map(region, RID());
 
 			if (debug_view) {
 				debug_view->queue_delete();
 				debug_view = nullptr;
 			}
-			navigation = nullptr;
 		} break;
 	}
 }
@@ -198,19 +191,7 @@ String NavigationRegion3D::get_configuration_warning() const {
 		warning += TTR("A NavigationMesh resource must be set or created for this node to work.");
 	}
 
-	const Node3D *c = this;
-	while (c) {
-		if (Object::cast_to<Navigation3D>(c)) {
-			return warning;
-		}
-
-		c = Object::cast_to<Node3D>(c->get_parent());
-	}
-
-	if (!warning.is_empty()) {
-		warning += "\n\n";
-	}
-	return warning + TTR("NavigationRegion3D must be a child or grandchild to a Navigation3D node. It only provides navigation data.");
+	return warning;
 }
 
 void NavigationRegion3D::_bind_methods() {
@@ -220,11 +201,15 @@ void NavigationRegion3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationRegion3D::set_enabled);
 	ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationRegion3D::is_enabled);
 
+	ClassDB::bind_method(D_METHOD("set_layers", "layers"), &NavigationRegion3D::set_layers);
+	ClassDB::bind_method(D_METHOD("get_layers"), &NavigationRegion3D::get_layers);
+
 	ClassDB::bind_method(D_METHOD("bake_navigation_mesh"), &NavigationRegion3D::bake_navigation_mesh);
 	ClassDB::bind_method(D_METHOD("_bake_finished", "nav_mesh"), &NavigationRegion3D::_bake_finished);
 
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "navmesh", PROPERTY_HINT_RESOURCE_TYPE, "NavigationMesh"), "set_navigation_mesh", "get_navigation_mesh");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_layers", "get_layers");
 
 	ADD_SIGNAL(MethodInfo("navigation_mesh_changed"));
 	ADD_SIGNAL(MethodInfo("bake_finished"));

scene/3d/navigation_region_3d.h

@@ -35,8 +35,6 @@
 #include "scene/resources/mesh.h"
 #include "scene/resources/navigation_mesh.h"
 
-class Navigation3D;
-
 class NavigationRegion3D : public Node3D {
 	GDCLASS(NavigationRegion3D, Node3D);
 
@@ -44,7 +42,6 @@ class NavigationRegion3D : public Node3D {
 	RID region;
 	Ref<NavigationMesh> navmesh;
 
-	Navigation3D *navigation = nullptr;
 	Node *debug_view = nullptr;
 	Thread bake_thread;
 
@@ -58,6 +55,9 @@ public:
 	void set_enabled(bool p_enabled);
 	bool is_enabled() const;
 
+	void set_layers(uint32_t p_layers);
+	uint32_t get_layers() const;
+
 	void set_navigation_mesh(const Ref<NavigationMesh> &p_navmesh);
 	Ref<NavigationMesh> get_navigation_mesh() const;
 

scene/register_scene_types.cpp

@@ -50,7 +50,6 @@
 #include "scene/2d/line_2d.h"
 #include "scene/2d/mesh_instance_2d.h"
 #include "scene/2d/multimesh_instance_2d.h"
-#include "scene/2d/navigation_2d.h"
 #include "scene/2d/navigation_agent_2d.h"
 #include "scene/2d/navigation_obstacle_2d.h"
 #include "scene/2d/parallax_background.h"
@@ -206,7 +205,6 @@
 #include "scene/3d/listener_3d.h"
 #include "scene/3d/mesh_instance_3d.h"
 #include "scene/3d/multimesh_instance_3d.h"
-#include "scene/3d/navigation_3d.h"
 #include "scene/3d/navigation_agent_3d.h"
 #include "scene/3d/navigation_obstacle_3d.h"
 #include "scene/3d/navigation_region_3d.h"
@@ -516,7 +514,6 @@ void register_scene_types() {
 	ClassDB::register_class<ConeTwistJoint3D>();
 	ClassDB::register_class<Generic6DOFJoint3D>();
 
-	ClassDB::register_class<Navigation3D>();
 	ClassDB::register_class<NavigationRegion3D>();
 	ClassDB::register_class<NavigationAgent3D>();
 	ClassDB::register_class<NavigationObstacle3D>();
@@ -793,7 +790,6 @@ void register_scene_types() {
 	ClassDB::register_class<PathFollow2D>();
 
 	ClassDB::register_class<NavigationMesh>();
-	ClassDB::register_class<Navigation2D>();
 	ClassDB::register_class<NavigationPolygon>();
 	ClassDB::register_class<NavigationRegion2D>();
 	ClassDB::register_class<NavigationAgent2D>();
@@ -814,6 +810,8 @@ void register_scene_types() {
 	ClassDB::add_compatibility_class("DynamicFont", "Font");
 	ClassDB::add_compatibility_class("DynamicFontData", "FontData");
 	ClassDB::add_compatibility_class("ToolButton", "Button");
+	ClassDB::add_compatibility_class("Navigation3D", "Node3D");
+	ClassDB::add_compatibility_class("Navigation2D", "Node2D");
 
 	// Renamed in 4.0.
 	// Keep alphabetical ordering to easily locate classes and avoid duplicates.
@@ -865,7 +863,6 @@ void register_scene_types() {
 	ClassDB::add_compatibility_class("Listener", "Listener3D");
 	ClassDB::add_compatibility_class("MeshInstance", "MeshInstance3D");
 	ClassDB::add_compatibility_class("MultiMeshInstance", "MultiMeshInstance3D");
-	ClassDB::add_compatibility_class("Navigation", "Navigation3D");
 	ClassDB::add_compatibility_class("NavigationAgent", "NavigationAgent3D");
 	ClassDB::add_compatibility_class("NavigationMeshInstance", "NavigationRegion3D");
 	ClassDB::add_compatibility_class("NavigationObstacle", "NavigationObstacle3D");
@@ -950,8 +947,10 @@ void register_scene_types() {
 	for (int i = 0; i < 20; i++) {
 		GLOBAL_DEF_BASIC(vformat("layer_names/2d_render/layer_%d", i), "");
 		GLOBAL_DEF_BASIC(vformat("layer_names/2d_physics/layer_%d", i), "");
+		GLOBAL_DEF_BASIC(vformat("layer_names/2d_navigation/layer_%d", i), "");
 		GLOBAL_DEF_BASIC(vformat("layer_names/3d_render/layer_%d", i), "");
 		GLOBAL_DEF_BASIC(vformat("layer_names/3d_physics/layer_%d", i), "");
+		GLOBAL_DEF_BASIC(vformat("layer_names/3d_navigation/layer_%d", i), "");
 	}
 
 	bool default_theme_hidpi = GLOBAL_DEF("gui/theme/use_hidpi", false);

scene/resources/world_2d.cpp

@@ -34,6 +34,7 @@
 #include "scene/2d/camera_2d.h"
 #include "scene/2d/visibility_notifier_2d.h"
 #include "scene/main/window.h"
+#include "servers/navigation_server_2d.h"
 #include "servers/physics_server_2d.h"
 #include "servers/rendering_server.h"
 
@@ -315,14 +316,18 @@ void World2D::_update() {
 	indexer->_update();
 }
 
-RID World2D::get_canvas() {
+RID World2D::get_canvas() const {
 	return canvas;
 }
 
-RID World2D::get_space() {
+RID World2D::get_space() const {
 	return space;
 }
 
+RID World2D::get_navigation_map() const {
+	return navigation_map;
+}
+
 void World2D::get_viewport_list(List<Viewport *> *r_viewports) {
 	for (Map<Viewport *, SpatialIndexer2D::ViewportData>::Element *E = indexer->viewports.front(); E; E = E->next()) {
 		r_viewports->push_back(E->key());
@@ -332,11 +337,13 @@ void World2D::get_viewport_list(List<Viewport *> *r_viewports) {
 void World2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_canvas"), &World2D::get_canvas);
 	ClassDB::bind_method(D_METHOD("get_space"), &World2D::get_space);
+	ClassDB::bind_method(D_METHOD("get_navigation_map"), &World2D::get_navigation_map);
 
 	ClassDB::bind_method(D_METHOD("get_direct_space_state"), &World2D::get_direct_space_state);
 
 	ADD_PROPERTY(PropertyInfo(Variant::RID, "canvas", PROPERTY_HINT_NONE, "", 0), "", "get_canvas");
 	ADD_PROPERTY(PropertyInfo(Variant::RID, "space", PROPERTY_HINT_NONE, "", 0), "", "get_space");
+	ADD_PROPERTY(PropertyInfo(Variant::RID, "navigation_map", PROPERTY_HINT_NONE, "", 0), "", "get_navigation_map");
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "direct_space_state", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsDirectSpaceState2D", 0), "", "get_direct_space_state");
 }
 
@@ -346,9 +353,9 @@ PhysicsDirectSpaceState2D *World2D::get_direct_space_state() {
 
 World2D::World2D() {
 	canvas = RenderingServer::get_singleton()->canvas_create();
-	space = PhysicsServer2D::get_singleton()->space_create();
 
-	//set space2D to be more friendly with pixels than meters, by adjusting some constants
+	// Create and configure space2D to be more friendly with pixels than meters
+	space = PhysicsServer2D::get_singleton()->space_create();
 	PhysicsServer2D::get_singleton()->space_set_active(space, true);
 	PhysicsServer2D::get_singleton()->area_set_param(space, PhysicsServer2D::AREA_PARAM_GRAVITY, GLOBAL_DEF("physics/2d/default_gravity", 98));
 	PhysicsServer2D::get_singleton()->area_set_param(space, PhysicsServer2D::AREA_PARAM_GRAVITY_VECTOR, GLOBAL_DEF("physics/2d/default_gravity_vector", Vector2(0, 1)));
@@ -356,11 +363,19 @@ World2D::World2D() {
 	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/default_linear_damp", PropertyInfo(Variant::FLOAT, "physics/2d/default_linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"));
 	PhysicsServer2D::get_singleton()->area_set_param(space, PhysicsServer2D::AREA_PARAM_ANGULAR_DAMP, GLOBAL_DEF("physics/2d/default_angular_damp", 1.0));
 	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/default_angular_damp", PropertyInfo(Variant::FLOAT, "physics/2d/default_angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"));
+
+	// Create and configure the navigation_map to be more friendly with pixels than meters.
+	navigation_map = NavigationServer2D::get_singleton()->map_create();
+	NavigationServer2D::get_singleton()->map_set_active(navigation_map, true);
+	NavigationServer2D::get_singleton()->map_set_cell_size(navigation_map, GLOBAL_DEF("navigation/2d/default_cell_size", 10));
+	NavigationServer2D::get_singleton()->map_set_edge_connection_margin(navigation_map, GLOBAL_DEF("navigation/2d/default_edge_connection_margin", 100));
+
 	indexer = memnew(SpatialIndexer2D);
 }
 
 World2D::~World2D() {
 	RenderingServer::get_singleton()->free(canvas);
 	PhysicsServer2D::get_singleton()->free(space);
+	NavigationServer2D::get_singleton()->free(navigation_map);
 	memdelete(indexer);
 }

scene/resources/world_2d.h

@@ -44,6 +44,7 @@ class World2D : public Resource {
 
 	RID canvas;
 	RID space;
+	RID navigation_map;
 
 	SpatialIndexer2D *indexer;
 
@@ -63,8 +64,9 @@ protected:
 	void _update();
 
 public:
-	RID get_canvas();
-	RID get_space();
+	RID get_canvas() const;
+	RID get_space() const;
+	RID get_navigation_map() const;
 
 	PhysicsDirectSpaceState2D *get_direct_space_state();
 

scene/resources/world_3d.cpp

@@ -35,6 +35,7 @@
 #include "scene/3d/camera_3d.h"
 #include "scene/3d/visibility_notifier_3d.h"
 #include "scene/scene_string_names.h"
+#include "servers/navigation_server_3d.h"
 
 struct SpatialIndexer {
 	Octree<VisibilityNotifier3D> octree;
@@ -243,6 +244,10 @@ RID World3D::get_space() const {
 	return space;
 }
 
+RID World3D::get_navigation_map() const {
+	return navigation_map;
+}
+
 RID World3D::get_scenario() const {
 	return scenario;
 }
@@ -310,6 +315,7 @@ void World3D::get_camera_list(List<Camera3D *> *r_cameras) {
 
 void World3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_space"), &World3D::get_space);
+	ClassDB::bind_method(D_METHOD("get_navigation_map"), &World3D::get_navigation_map);
 	ClassDB::bind_method(D_METHOD("get_scenario"), &World3D::get_scenario);
 	ClassDB::bind_method(D_METHOD("set_environment", "env"), &World3D::set_environment);
 	ClassDB::bind_method(D_METHOD("get_environment"), &World3D::get_environment);
@@ -322,6 +328,7 @@ void World3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "fallback_environment", PROPERTY_HINT_RESOURCE_TYPE, "Environment"), "set_fallback_environment", "get_fallback_environment");
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "camera_effects", PROPERTY_HINT_RESOURCE_TYPE, "CameraEffects"), "set_camera_effects", "get_camera_effects");
 	ADD_PROPERTY(PropertyInfo(Variant::RID, "space", PROPERTY_HINT_NONE, "", 0), "", "get_space");
+	ADD_PROPERTY(PropertyInfo(Variant::RID, "navigation_map", PROPERTY_HINT_NONE, "", 0), "", "get_navigation_map");
 	ADD_PROPERTY(PropertyInfo(Variant::RID, "scenario", PROPERTY_HINT_NONE, "", 0), "", "get_scenario");
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "direct_space_state", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsDirectSpaceState3D", 0), "", "get_direct_space_state");
 }
@@ -338,6 +345,11 @@ World3D::World3D() {
 	PhysicsServer3D::get_singleton()->area_set_param(space, PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP, GLOBAL_DEF("physics/3d/default_angular_damp", 0.1));
 	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/default_angular_damp", PropertyInfo(Variant::FLOAT, "physics/3d/default_angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"));
 
+	navigation_map = NavigationServer3D::get_singleton()->map_create();
+	NavigationServer3D::get_singleton()->map_set_active(navigation_map, true);
+	NavigationServer3D::get_singleton()->map_set_cell_size(navigation_map, GLOBAL_DEF("navigation/3d/default_cell_size", 0.3));
+	NavigationServer3D::get_singleton()->map_set_edge_connection_margin(navigation_map, GLOBAL_DEF("navigation/3d/default_edge_connection_margin", 5.0)); // Five meters, depends a lot on the agent's radius
+
 #ifdef _3D_DISABLED
 	indexer = nullptr;
 #else
@@ -348,6 +360,7 @@ World3D::World3D() {
 World3D::~World3D() {
 	PhysicsServer3D::get_singleton()->free(space);
 	RenderingServer::get_singleton()->free(scenario);
+	NavigationServer3D::get_singleton()->free(navigation_map);
 
 #ifndef _3D_DISABLED
 	memdelete(indexer);

scene/resources/world_3d.h

@@ -46,6 +46,7 @@ class World3D : public Resource {
 
 private:
 	RID space;
+	RID navigation_map;
 	RID scenario;
 	SpatialIndexer *indexer;
 	Ref<Environment> environment;
@@ -70,6 +71,7 @@ protected:
 
 public:
 	RID get_space() const;
+	RID get_navigation_map() const;
 	RID get_scenario() const;
 
 	void set_environment(const Ref<Environment> &p_environment);

servers/navigation_server_2d.cpp

@@ -80,6 +80,18 @@ NavigationServer2D *NavigationServer2D::singleton = nullptr;
 		return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3)); \
 	}
 
+#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)      \
+	NavigationServer2D::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))); \
+	}
+
+#define FORWARD_5_C(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)        \
+	NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3, T_4 D_4)                                                  \
+			const {                                                                                                             \
+		return 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;
 }
@@ -92,6 +104,10 @@ 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;
 }
@@ -148,12 +164,14 @@ void NavigationServer2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer2D::map_get_cell_size);
 	ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer2D::map_set_edge_connection_margin);
 	ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer2D::map_get_edge_connection_margin);
-	ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize"), &NavigationServer2D::map_get_path);
+	ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "layers"), &NavigationServer2D::map_get_path, DEFVAL(1));
 	ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer2D::map_get_closest_point);
 	ClassDB::bind_method(D_METHOD("map_get_closest_point_owner", "map", "to_point"), &NavigationServer2D::map_get_closest_point_owner);
 
 	ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer2D::region_create);
 	ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &NavigationServer2D::region_set_map);
+	ClassDB::bind_method(D_METHOD("region_set_layers", "region", "layers"), &NavigationServer2D::region_set_layers);
+	ClassDB::bind_method(D_METHOD("region_get_layers", "region"), &NavigationServer2D::region_get_layers);
 	ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &NavigationServer2D::region_set_transform);
 	ClassDB::bind_method(D_METHOD("region_set_navpoly", "region", "nav_poly"), &NavigationServer2D::region_set_navpoly);
 
@@ -193,14 +211,15 @@ real_t FORWARD_1_C(map_get_cell_size, RID, p_map, rid_to_rid);
 void FORWARD_2_C(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);
 
-Vector<Vector2> FORWARD_4_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2, p_origin, Vector2, p_destination, bool, p_optimize, rid_to_rid, v2_to_v3, v2_to_v3, bool_to_bool);
+Vector<Vector2> 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);
 
 RID FORWARD_0_C(region_create);
 void FORWARD_2_C(region_set_map, RID, p_region, RID, p_map, rid_to_rid, rid_to_rid);
-
+void FORWARD_2_C(region_set_layers, RID, p_region, uint32_t, p_layers, rid_to_rid, uint32_to_uint32);
+uint32_t FORWARD_1_C(region_get_layers, RID, p_region, rid_to_rid);
 void FORWARD_2_C(region_set_transform, RID, p_region, Transform2D, p_transform, rid_to_rid, trf2_to_trf3);
 
 void NavigationServer2D::region_set_navpoly(RID p_region, Ref<NavigationPolygon> p_nav_mesh) const {

servers/navigation_server_2d.h

@@ -77,7 +77,7 @@ public:
 	virtual real_t map_get_edge_connection_margin(RID p_map) const;
 
 	/// Returns the navigation path to reach the destination from the origin.
-	virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize) const;
+	virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_layers = 1) const;
 
 	virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const;
 	virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const;
@@ -88,6 +88,10 @@ public:
 	/// Set the map of this region.
 	virtual void region_set_map(RID p_region, RID p_map) const;
 
+	/// Set the region's layers
+	virtual void region_set_layers(RID p_region, uint32_t p_layers) const;
+	virtual uint32_t region_get_layers(RID p_region) const;
+
 	/// Set the global transformation of this region.
 	virtual void region_set_transform(RID p_region, Transform2D p_transform) const;
 

servers/navigation_server_3d.cpp

@@ -46,7 +46,7 @@ void NavigationServer3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer3D::map_get_cell_size);
 	ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer3D::map_set_edge_connection_margin);
 	ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer3D::map_get_edge_connection_margin);
-	ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize"), &NavigationServer3D::map_get_path);
+	ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "layers"), &NavigationServer3D::map_get_path, DEFVAL(1));
 	ClassDB::bind_method(D_METHOD("map_get_closest_point_to_segment", "map", "start", "end", "use_collision"), &NavigationServer3D::map_get_closest_point_to_segment, DEFVAL(false));
 	ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer3D::map_get_closest_point);
 	ClassDB::bind_method(D_METHOD("map_get_closest_point_normal", "map", "to_point"), &NavigationServer3D::map_get_closest_point_normal);
@@ -54,6 +54,8 @@ void NavigationServer3D::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer3D::region_create);
 	ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &NavigationServer3D::region_set_map);
+	ClassDB::bind_method(D_METHOD("region_set_layers", "region", "layers"), &NavigationServer3D::region_set_layers);
+	ClassDB::bind_method(D_METHOD("region_get_layers", "region"), &NavigationServer3D::region_get_layers);
 	ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &NavigationServer3D::region_set_transform);
 	ClassDB::bind_method(D_METHOD("region_set_navmesh", "region", "nav_mesh"), &NavigationServer3D::region_set_navmesh);
 	ClassDB::bind_method(D_METHOD("region_bake_navmesh", "mesh", "node"), &NavigationServer3D::region_bake_navmesh);

servers/navigation_server_3d.h

@@ -88,7 +88,7 @@ public:
 	virtual real_t map_get_edge_connection_margin(RID p_map) const = 0;
 
 	/// Returns the navigation path to reach the destination from the origin.
-	virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize) const = 0;
+	virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigable_layers = 1) const = 0;
 
 	virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const = 0;
 	virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const = 0;
@@ -101,6 +101,10 @@ public:
 	/// Set the map of this region.
 	virtual void region_set_map(RID p_region, RID p_map) const = 0;
 
+	/// Set the region's layers
+	virtual void region_set_layers(RID p_region, uint32_t p_layers) const = 0;
+	virtual uint32_t region_get_layers(RID p_region) const = 0;
+
 	/// Set the global transformation of this region.
 	virtual void region_set_transform(RID p_region, Transform p_transform) const = 0;