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engine/modules/navigation/2d/godot_navigation_server_2d.cpp

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+/**************************************************************************/
+/*  godot_navigation_server_2d.cpp                                        */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#include "godot_navigation_server_2d.h"
+
+#ifdef CLIPPER2_ENABLED
+#include "nav_mesh_generator_2d.h"
+#endif // CLIPPER2_ENABLED
+
+#include "servers/navigation_server_3d.h"
+
+#define FORWARD_0(FUNC_NAME)                                     \
+	GodotNavigationServer2D::FUNC_NAME() {                       \
+		return NavigationServer3D::get_singleton()->FUNC_NAME(); \
+	}
+
+#define FORWARD_0_C(FUNC_NAME)                                   \
+	GodotNavigationServer2D::FUNC_NAME()                         \
+			const {                                              \
+		return NavigationServer3D::get_singleton()->FUNC_NAME(); \
+	}
+
+#define FORWARD_1(FUNC_NAME, T_0, D_0, CONV_0)                              \
+	GodotNavigationServer2D::FUNC_NAME(T_0 D_0) {                           \
+		return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0)); \
+	}
+
+#define FORWARD_1_C(FUNC_NAME, T_0, D_0, CONV_0)                            \
+	GodotNavigationServer2D::FUNC_NAME(T_0 D_0)                             \
+			const {                                                         \
+		return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0)); \
+	}
+
+#define FORWARD_1_R_C(CONV_R, FUNC_NAME, T_0, D_0, CONV_0)                          \
+	GodotNavigationServer2D::FUNC_NAME(T_0 D_0)                                     \
+			const {                                                                 \
+		return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0))); \
+	}
+
+#define FORWARD_2(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1)                         \
+	GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1) {                               \
+		return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \
+	}
+
+#define FORWARD_2_C(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1)                       \
+	GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1)                                 \
+			const {                                                                      \
+		return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \
+	}
+
+#define FORWARD_2_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1)                     \
+	GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1)                                         \
+			const {                                                                              \
+		return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1))); \
+	}
+
+static RID rid_to_rid(const RID d) {
+	return d;
+}
+
+static bool bool_to_bool(const bool d) {
+	return d;
+}
+
+static int int_to_int(const int d) {
+	return d;
+}
+
+static uint32_t uint32_to_uint32(const uint32_t d) {
+	return d;
+}
+
+static real_t real_to_real(const real_t d) {
+	return d;
+}
+
+static Vector3 v2_to_v3(const Vector2 d) {
+	return Vector3(d.x, 0.0, d.y);
+}
+
+static Vector2 v3_to_v2(const Vector3 &d) {
+	return Vector2(d.x, d.z);
+}
+
+static Vector<Vector3> vector_v2_to_v3(const Vector<Vector2> &d) {
+	Vector<Vector3> nd;
+	nd.resize(d.size());
+	for (int i(0); i < nd.size(); i++) {
+		nd.write[i] = v2_to_v3(d[i]);
+	}
+	return nd;
+}
+
+static Vector<Vector2> vector_v3_to_v2(const Vector<Vector3> &d) {
+	Vector<Vector2> nd;
+	nd.resize(d.size());
+	for (int i(0); i < nd.size(); i++) {
+		nd.write[i] = v3_to_v2(d[i]);
+	}
+	return nd;
+}
+
+static Transform3D trf2_to_trf3(const Transform2D &d) {
+	Vector3 o(v2_to_v3(d.get_origin()));
+	Basis b;
+	b.rotate(Vector3(0, -1, 0), d.get_rotation());
+	b.scale(v2_to_v3(d.get_scale()));
+	return Transform3D(b, o);
+}
+
+static Transform2D trf3_to_trf2(const Transform3D &d) {
+	Vector3 o = d.get_origin();
+	Vector3 nx = d.xform(Vector3(1, 0, 0)) - o;
+	Vector3 nz = d.xform(Vector3(0, 0, 1)) - o;
+	return Transform2D(nx.x, nx.z, nz.x, nz.z, o.x, o.z);
+}
+
+static ObjectID id_to_id(const ObjectID &id) {
+	return id;
+}
+
+static Callable callable_to_callable(const Callable &c) {
+	return c;
+}
+
+static Ref<NavigationMesh> poly_to_mesh(Ref<NavigationPolygon> d) {
+	if (d.is_valid()) {
+		return d->get_navigation_mesh();
+	} else {
+		return Ref<NavigationMesh>();
+	}
+}
+
+static Rect2 aabb_to_rect2(AABB aabb) {
+	Rect2 rect2;
+	rect2.position = Vector2(aabb.position.x, aabb.position.z);
+	rect2.size = Vector2(aabb.size.x, aabb.size.z);
+	return rect2;
+}
+
+void GodotNavigationServer2D::init() {
+#ifdef CLIPPER2_ENABLED
+	navmesh_generator_2d = memnew(NavMeshGenerator2D);
+	ERR_FAIL_NULL_MSG(navmesh_generator_2d, "Failed to init NavMeshGenerator2D.");
+	RWLockRead read_lock(geometry_parser_rwlock);
+	navmesh_generator_2d->set_generator_parsers(generator_parsers);
+#endif // CLIPPER2_ENABLED
+}
+
+void GodotNavigationServer2D::sync() {
+#ifdef CLIPPER2_ENABLED
+	if (navmesh_generator_2d) {
+		navmesh_generator_2d->sync();
+	}
+#endif // CLIPPER2_ENABLED
+}
+
+void GodotNavigationServer2D::finish() {
+#ifdef CLIPPER2_ENABLED
+	if (navmesh_generator_2d) {
+		navmesh_generator_2d->finish();
+		memdelete(navmesh_generator_2d);
+		navmesh_generator_2d = nullptr;
+	}
+#endif // CLIPPER2_ENABLED
+}
+
+void GodotNavigationServer2D::parse_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
+	ERR_FAIL_COND_MSG(!Thread::is_main_thread(), "The SceneTree can only be parsed on the main thread. Call this function from the main thread or use call_deferred().");
+	ERR_FAIL_COND_MSG(p_navigation_mesh.is_null(), "Invalid navigation polygon.");
+	ERR_FAIL_NULL_MSG(p_root_node, "No parsing root node specified.");
+	ERR_FAIL_COND_MSG(!p_root_node->is_inside_tree(), "The root node needs to be inside the SceneTree.");
+
+#ifdef CLIPPER2_ENABLED
+	ERR_FAIL_NULL(NavMeshGenerator2D::get_singleton());
+	NavMeshGenerator2D::get_singleton()->parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node, p_callback);
+#endif // CLIPPER2_ENABLED
+}
+
+void GodotNavigationServer2D::bake_from_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback) {
+	ERR_FAIL_COND_MSG(p_navigation_mesh.is_null(), "Invalid navigation polygon.");
+	ERR_FAIL_COND_MSG(p_source_geometry_data.is_null(), "Invalid NavigationMeshSourceGeometryData2D.");
+
+#ifdef CLIPPER2_ENABLED
+	ERR_FAIL_NULL(NavMeshGenerator2D::get_singleton());
+	NavMeshGenerator2D::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
+#endif // CLIPPER2_ENABLED
+}
+
+void GodotNavigationServer2D::bake_from_source_geometry_data_async(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback) {
+	ERR_FAIL_COND_MSG(p_navigation_mesh.is_null(), "Invalid navigation mesh.");
+	ERR_FAIL_COND_MSG(p_source_geometry_data.is_null(), "Invalid NavigationMeshSourceGeometryData2D.");
+
+#ifdef CLIPPER2_ENABLED
+	ERR_FAIL_NULL(NavMeshGenerator2D::get_singleton());
+	NavMeshGenerator2D::get_singleton()->bake_from_source_geometry_data_async(p_navigation_mesh, p_source_geometry_data, p_callback);
+#endif // CLIPPER2_ENABLED
+}
+
+bool GodotNavigationServer2D::is_baking_navigation_polygon(Ref<NavigationPolygon> p_navigation_polygon) const {
+#ifdef CLIPPER2_ENABLED
+	return NavMeshGenerator2D::get_singleton()->is_baking(p_navigation_polygon);
+#else
+	return false;
+#endif
+}
+
+Vector<Vector2> GodotNavigationServer2D::simplify_path(const Vector<Vector2> &p_path, real_t p_epsilon) {
+	return vector_v3_to_v2(NavigationServer3D::get_singleton()->simplify_path(vector_v2_to_v3(p_path), p_epsilon));
+}
+
+GodotNavigationServer2D::GodotNavigationServer2D() {}
+
+GodotNavigationServer2D::~GodotNavigationServer2D() {}
+
+TypedArray<RID> FORWARD_0_C(get_maps);
+
+TypedArray<RID> FORWARD_1_C(map_get_links, RID, p_map, rid_to_rid);
+
+TypedArray<RID> FORWARD_1_C(map_get_regions, RID, p_map, rid_to_rid);
+
+TypedArray<RID> FORWARD_1_C(map_get_agents, RID, p_map, rid_to_rid);
+
+TypedArray<RID> FORWARD_1_C(map_get_obstacles, RID, p_map, rid_to_rid);
+
+RID FORWARD_1_C(region_get_map, RID, p_region, rid_to_rid);
+
+RID FORWARD_1_C(agent_get_map, RID, p_agent, rid_to_rid);
+
+RID FORWARD_0(map_create);
+
+void FORWARD_2(map_set_active, RID, p_map, bool, p_active, rid_to_rid, bool_to_bool);
+
+bool FORWARD_1_C(map_is_active, RID, p_map, rid_to_rid);
+
+void GodotNavigationServer2D::map_force_update(RID p_map) {
+	NavigationServer3D::get_singleton()->map_force_update(p_map);
+}
+
+uint32_t GodotNavigationServer2D::map_get_iteration_id(RID p_map) const {
+	return NavigationServer3D::get_singleton()->map_get_iteration_id(p_map);
+}
+
+void GodotNavigationServer2D::map_set_use_async_iterations(RID p_map, bool p_enabled) {
+	return NavigationServer3D::get_singleton()->map_set_use_async_iterations(p_map, p_enabled);
+}
+
+bool GodotNavigationServer2D::map_get_use_async_iterations(RID p_map) const {
+	return NavigationServer3D::get_singleton()->map_get_use_async_iterations(p_map);
+}
+
+void FORWARD_2(map_set_cell_size, RID, p_map, real_t, p_cell_size, rid_to_rid, real_to_real);
+real_t FORWARD_1_C(map_get_cell_size, RID, p_map, rid_to_rid);
+
+void FORWARD_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled, rid_to_rid, bool_to_bool);
+bool FORWARD_1_C(map_get_use_edge_connections, RID, p_map, rid_to_rid);
+
+void FORWARD_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin, rid_to_rid, real_to_real);
+real_t FORWARD_1_C(map_get_edge_connection_margin, RID, p_map, rid_to_rid);
+
+void FORWARD_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius, rid_to_rid, real_to_real);
+real_t FORWARD_1_C(map_get_link_connection_radius, RID, p_map, rid_to_rid);
+
+Vector<Vector2> GodotNavigationServer2D::map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers) {
+	return vector_v3_to_v2(NavigationServer3D::get_singleton()->map_get_path(p_map, v2_to_v3(p_origin), v2_to_v3(p_destination), p_optimize, p_navigation_layers));
+}
+
+Vector2 FORWARD_2_R_C(v3_to_v2, map_get_closest_point, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3);
+RID FORWARD_2_C(map_get_closest_point_owner, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3);
+
+Vector2 GodotNavigationServer2D::map_get_random_point(RID p_map, uint32_t p_naviation_layers, bool p_uniformly) const {
+	Vector3 result = NavigationServer3D::get_singleton()->map_get_random_point(p_map, p_naviation_layers, p_uniformly);
+	return v3_to_v2(result);
+}
+
+RID FORWARD_0(region_create);
+void FORWARD_2(region_set_enabled, RID, p_region, bool, p_enabled, rid_to_rid, bool_to_bool);
+bool FORWARD_1_C(region_get_enabled, RID, p_region, rid_to_rid);
+void FORWARD_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled, rid_to_rid, bool_to_bool);
+bool FORWARD_1_C(region_get_use_edge_connections, RID, p_region, rid_to_rid);
+
+void FORWARD_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost, rid_to_rid, real_to_real);
+real_t FORWARD_1_C(region_get_enter_cost, RID, p_region, rid_to_rid);
+void FORWARD_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost, rid_to_rid, real_to_real);
+real_t FORWARD_1_C(region_get_travel_cost, RID, p_region, rid_to_rid);
+void FORWARD_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id, rid_to_rid, id_to_id);
+ObjectID FORWARD_1_C(region_get_owner_id, RID, p_region, rid_to_rid);
+bool FORWARD_2_C(region_owns_point, RID, p_region, const Vector2 &, p_point, rid_to_rid, v2_to_v3);
+
+void FORWARD_2(region_set_map, RID, p_region, RID, p_map, rid_to_rid, rid_to_rid);
+void FORWARD_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32);
+uint32_t FORWARD_1_C(region_get_navigation_layers, RID, p_region, rid_to_rid);
+void FORWARD_2(region_set_transform, RID, p_region, Transform2D, p_transform, rid_to_rid, trf2_to_trf3);
+
+Transform2D GodotNavigationServer2D::region_get_transform(RID p_region) const {
+	return trf3_to_trf2(NavigationServer3D::get_singleton()->region_get_transform(p_region));
+}
+
+void GodotNavigationServer2D::region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon) {
+	NavigationServer3D::get_singleton()->region_set_navigation_mesh(p_region, poly_to_mesh(p_navigation_polygon));
+}
+
+int FORWARD_1_C(region_get_connections_count, RID, p_region, rid_to_rid);
+Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_start, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int);
+Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_end, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int);
+
+Vector2 GodotNavigationServer2D::region_get_closest_point(RID p_region, const Vector2 &p_point) const {
+	Vector3 result = NavigationServer3D::get_singleton()->region_get_closest_point(p_region, v2_to_v3(p_point));
+	return v3_to_v2(result);
+}
+
+Vector2 GodotNavigationServer2D::region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const {
+	Vector3 result = NavigationServer3D::get_singleton()->region_get_random_point(p_region, p_navigation_layers, p_uniformly);
+	return v3_to_v2(result);
+}
+
+Rect2 GodotNavigationServer2D::region_get_bounds(RID p_region) const {
+	AABB bounds = NavigationServer3D::get_singleton()->region_get_bounds(p_region);
+	return aabb_to_rect2(bounds);
+}
+
+RID FORWARD_0(link_create);
+
+void FORWARD_2(link_set_map, RID, p_link, RID, p_map, rid_to_rid, rid_to_rid);
+RID FORWARD_1_C(link_get_map, RID, p_link, rid_to_rid);
+void FORWARD_2(link_set_enabled, RID, p_link, bool, p_enabled, rid_to_rid, bool_to_bool);
+bool FORWARD_1_C(link_get_enabled, RID, p_link, rid_to_rid);
+void FORWARD_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional, rid_to_rid, bool_to_bool);
+bool FORWARD_1_C(link_is_bidirectional, RID, p_link, rid_to_rid);
+void FORWARD_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32);
+uint32_t FORWARD_1_C(link_get_navigation_layers, RID, p_link, rid_to_rid);
+void FORWARD_2(link_set_start_position, RID, p_link, Vector2, p_position, rid_to_rid, v2_to_v3);
+Vector2 FORWARD_1_R_C(v3_to_v2, link_get_start_position, RID, p_link, rid_to_rid);
+void FORWARD_2(link_set_end_position, RID, p_link, Vector2, p_position, rid_to_rid, v2_to_v3);
+Vector2 FORWARD_1_R_C(v3_to_v2, link_get_end_position, RID, p_link, rid_to_rid);
+void FORWARD_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost, rid_to_rid, real_to_real);
+real_t FORWARD_1_C(link_get_enter_cost, RID, p_link, rid_to_rid);
+void FORWARD_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost, rid_to_rid, real_to_real);
+real_t FORWARD_1_C(link_get_travel_cost, RID, p_link, rid_to_rid);
+void FORWARD_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id, rid_to_rid, id_to_id);
+ObjectID FORWARD_1_C(link_get_owner_id, RID, p_link, rid_to_rid);
+
+RID GodotNavigationServer2D::agent_create() {
+	RID agent = NavigationServer3D::get_singleton()->agent_create();
+	return agent;
+}
+
+void FORWARD_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled, rid_to_rid, bool_to_bool);
+bool FORWARD_1_C(agent_get_avoidance_enabled, RID, p_agent, rid_to_rid);
+void FORWARD_2(agent_set_map, RID, p_agent, RID, p_map, rid_to_rid, rid_to_rid);
+void FORWARD_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_dist, rid_to_rid, real_to_real);
+real_t GodotNavigationServer2D::agent_get_neighbor_distance(RID p_agent) const {
+	return NavigationServer3D::get_singleton()->agent_get_neighbor_distance(p_agent);
+}
+void FORWARD_2(agent_set_max_neighbors, RID, p_agent, int, p_count, rid_to_rid, int_to_int);
+int GodotNavigationServer2D::agent_get_max_neighbors(RID p_agent) const {
+	return NavigationServer3D::get_singleton()->agent_get_max_neighbors(p_agent);
+}
+void FORWARD_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon, rid_to_rid, real_to_real);
+real_t GodotNavigationServer2D::agent_get_time_horizon_agents(RID p_agent) const {
+	return NavigationServer3D::get_singleton()->agent_get_time_horizon_agents(p_agent);
+}
+void FORWARD_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon, rid_to_rid, real_to_real);
+real_t GodotNavigationServer2D::agent_get_time_horizon_obstacles(RID p_agent) const {
+	return NavigationServer3D::get_singleton()->agent_get_time_horizon_obstacles(p_agent);
+}
+void FORWARD_2(agent_set_radius, RID, p_agent, real_t, p_radius, rid_to_rid, real_to_real);
+real_t GodotNavigationServer2D::agent_get_radius(RID p_agent) const {
+	return NavigationServer3D::get_singleton()->agent_get_radius(p_agent);
+}
+void FORWARD_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed, rid_to_rid, real_to_real);
+real_t GodotNavigationServer2D::agent_get_max_speed(RID p_agent) const {
+	return NavigationServer3D::get_singleton()->agent_get_max_speed(p_agent);
+}
+void FORWARD_2(agent_set_velocity_forced, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3);
+void FORWARD_2(agent_set_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3);
+Vector2 GodotNavigationServer2D::agent_get_velocity(RID p_agent) const {
+	return v3_to_v2(NavigationServer3D::get_singleton()->agent_get_velocity(p_agent));
+}
+void FORWARD_2(agent_set_position, RID, p_agent, Vector2, p_position, rid_to_rid, v2_to_v3);
+Vector2 GodotNavigationServer2D::agent_get_position(RID p_agent) const {
+	return v3_to_v2(NavigationServer3D::get_singleton()->agent_get_position(p_agent));
+}
+bool FORWARD_1_C(agent_is_map_changed, RID, p_agent, rid_to_rid);
+void FORWARD_2(agent_set_paused, RID, p_agent, bool, p_paused, rid_to_rid, bool_to_bool);
+bool FORWARD_1_C(agent_get_paused, RID, p_agent, rid_to_rid);
+
+void GodotNavigationServer2D::free(RID p_object) {
+	if (geometry_parser_owner.owns(p_object)) {
+		RWLockWrite write_lock(geometry_parser_rwlock);
+
+		NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(p_object);
+		ERR_FAIL_NULL(parser);
+
+		generator_parsers.erase(parser);
+#ifndef CLIPPER2_ENABLED
+		NavMeshGenerator2D::get_singleton()->set_generator_parsers(generator_parsers);
+#endif
+		geometry_parser_owner.free(parser->self);
+		return;
+	}
+	NavigationServer3D::get_singleton()->free(p_object);
+}
+
+void FORWARD_2(agent_set_avoidance_callback, RID, p_agent, Callable, p_callback, rid_to_rid, callable_to_callable);
+bool GodotNavigationServer2D::agent_has_avoidance_callback(RID p_agent) const {
+	return NavigationServer3D::get_singleton()->agent_has_avoidance_callback(p_agent);
+}
+
+void FORWARD_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers, rid_to_rid, uint32_to_uint32);
+uint32_t GodotNavigationServer2D::agent_get_avoidance_layers(RID p_agent) const {
+	return NavigationServer3D::get_singleton()->agent_get_avoidance_layers(p_agent);
+}
+void FORWARD_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask, rid_to_rid, uint32_to_uint32);
+uint32_t GodotNavigationServer2D::agent_get_avoidance_mask(RID p_agent) const {
+	return NavigationServer3D::get_singleton()->agent_get_avoidance_mask(p_agent);
+}
+void FORWARD_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority, rid_to_rid, real_to_real);
+real_t GodotNavigationServer2D::agent_get_avoidance_priority(RID p_agent) const {
+	return NavigationServer3D::get_singleton()->agent_get_avoidance_priority(p_agent);
+}
+
+RID GodotNavigationServer2D::obstacle_create() {
+	RID obstacle = NavigationServer3D::get_singleton()->obstacle_create();
+	return obstacle;
+}
+void FORWARD_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled, rid_to_rid, bool_to_bool);
+bool FORWARD_1_C(obstacle_get_avoidance_enabled, RID, p_obstacle, rid_to_rid);
+void FORWARD_2(obstacle_set_map, RID, p_obstacle, RID, p_map, rid_to_rid, rid_to_rid);
+RID FORWARD_1_C(obstacle_get_map, RID, p_obstacle, rid_to_rid);
+void FORWARD_2(obstacle_set_paused, RID, p_obstacle, bool, p_paused, rid_to_rid, bool_to_bool);
+bool FORWARD_1_C(obstacle_get_paused, RID, p_obstacle, rid_to_rid);
+void FORWARD_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius, rid_to_rid, real_to_real);
+real_t GodotNavigationServer2D::obstacle_get_radius(RID p_obstacle) const {
+	return NavigationServer3D::get_singleton()->obstacle_get_radius(p_obstacle);
+}
+void FORWARD_2(obstacle_set_velocity, RID, p_obstacle, Vector2, p_velocity, rid_to_rid, v2_to_v3);
+Vector2 GodotNavigationServer2D::obstacle_get_velocity(RID p_obstacle) const {
+	return v3_to_v2(NavigationServer3D::get_singleton()->obstacle_get_velocity(p_obstacle));
+}
+void FORWARD_2(obstacle_set_position, RID, p_obstacle, Vector2, p_position, rid_to_rid, v2_to_v3);
+Vector2 GodotNavigationServer2D::obstacle_get_position(RID p_obstacle) const {
+	return v3_to_v2(NavigationServer3D::get_singleton()->obstacle_get_position(p_obstacle));
+}
+void FORWARD_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers, rid_to_rid, uint32_to_uint32);
+uint32_t GodotNavigationServer2D::obstacle_get_avoidance_layers(RID p_obstacle) const {
+	return NavigationServer3D::get_singleton()->obstacle_get_avoidance_layers(p_obstacle);
+}
+
+void GodotNavigationServer2D::obstacle_set_vertices(RID p_obstacle, const Vector<Vector2> &p_vertices) {
+	NavigationServer3D::get_singleton()->obstacle_set_vertices(p_obstacle, vector_v2_to_v3(p_vertices));
+}
+Vector<Vector2> GodotNavigationServer2D::obstacle_get_vertices(RID p_obstacle) const {
+	return vector_v3_to_v2(NavigationServer3D::get_singleton()->obstacle_get_vertices(p_obstacle));
+}
+
+void GodotNavigationServer2D::query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result, const Callable &p_callback) {
+	ERR_FAIL_COND(p_query_parameters.is_null());
+	ERR_FAIL_COND(p_query_result.is_null());
+
+	Ref<NavigationPathQueryParameters3D> query_parameters;
+	query_parameters.instantiate();
+
+	query_parameters->set_map(p_query_parameters->get_map());
+	query_parameters->set_start_position(v2_to_v3(p_query_parameters->get_start_position()));
+	query_parameters->set_target_position(v2_to_v3(p_query_parameters->get_target_position()));
+	query_parameters->set_navigation_layers(p_query_parameters->get_navigation_layers());
+	query_parameters->set_pathfinding_algorithm(NavigationPathQueryParameters3D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR);
+
+	switch (p_query_parameters->get_path_postprocessing()) {
+		case NavigationPathQueryParameters2D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL: {
+			query_parameters->set_path_postprocessing(NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL);
+		} break;
+		case NavigationPathQueryParameters2D::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED: {
+			query_parameters->set_path_postprocessing(NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED);
+		} break;
+		case NavigationPathQueryParameters2D::PathPostProcessing::PATH_POSTPROCESSING_NONE: {
+			query_parameters->set_path_postprocessing(NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_NONE);
+		} break;
+		default: {
+			WARN_PRINT("No match for used PathPostProcessing - fallback to default");
+			query_parameters->set_path_postprocessing(NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL);
+		} break;
+	}
+
+	query_parameters->set_metadata_flags((int64_t)p_query_parameters->get_metadata_flags());
+	query_parameters->set_simplify_path(p_query_parameters->get_simplify_path());
+	query_parameters->set_simplify_epsilon(p_query_parameters->get_simplify_epsilon());
+
+	Ref<NavigationPathQueryResult3D> query_result;
+	query_result.instantiate();
+
+	NavigationServer3D::get_singleton()->query_path(query_parameters, query_result, p_callback);
+
+	p_query_result->set_path(vector_v3_to_v2(query_result->get_path()));
+	p_query_result->set_path_types(query_result->get_path_types());
+	p_query_result->set_path_rids(query_result->get_path_rids());
+	p_query_result->set_path_owner_ids(query_result->get_path_owner_ids());
+}
+
+RID GodotNavigationServer2D::source_geometry_parser_create() {
+	RWLockWrite write_lock(geometry_parser_rwlock);
+
+	RID rid = geometry_parser_owner.make_rid();
+
+	NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(rid);
+	parser->self = rid;
+
+	generator_parsers.push_back(parser);
+#ifdef CLIPPER2_ENABLED
+	NavMeshGenerator2D::get_singleton()->set_generator_parsers(generator_parsers);
+#endif
+	return rid;
+}
+
+void GodotNavigationServer2D::source_geometry_parser_set_callback(RID p_parser, const Callable &p_callback) {
+	RWLockWrite write_lock(geometry_parser_rwlock);
+
+	NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(p_parser);
+	ERR_FAIL_NULL(parser);
+
+	parser->callback = p_callback;
+}

engine/modules/navigation/2d/godot_navigation_server_2d.h

@@ -0,0 +1,266 @@
+/**************************************************************************/
+/*  godot_navigation_server_2d.h                                          */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#ifndef GODOT_NAVIGATION_SERVER_2D_H
+#define GODOT_NAVIGATION_SERVER_2D_H
+
+#include "../nav_agent.h"
+#include "../nav_link.h"
+#include "../nav_map.h"
+#include "../nav_obstacle.h"
+#include "../nav_region.h"
+
+#include "servers/navigation_server_2d.h"
+
+#ifdef CLIPPER2_ENABLED
+class NavMeshGenerator2D;
+#endif // CLIPPER2_ENABLED
+
+// This server exposes the `NavigationServer3D` features in the 2D world.
+class GodotNavigationServer2D : public NavigationServer2D {
+	GDCLASS(GodotNavigationServer2D, NavigationServer2D);
+
+#ifdef CLIPPER2_ENABLED
+	NavMeshGenerator2D *navmesh_generator_2d = nullptr;
+#endif // CLIPPER2_ENABLED
+
+public:
+	GodotNavigationServer2D();
+	virtual ~GodotNavigationServer2D();
+
+	virtual TypedArray<RID> get_maps() const override;
+
+	virtual RID map_create() override;
+	virtual void map_set_active(RID p_map, bool p_active) override;
+	virtual bool map_is_active(RID p_map) const override;
+	virtual void map_set_cell_size(RID p_map, real_t p_cell_size) override;
+	virtual real_t map_get_cell_size(RID p_map) const override;
+	virtual void map_set_use_edge_connections(RID p_map, bool p_enabled) override;
+	virtual bool map_get_use_edge_connections(RID p_map) const override;
+	virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) override;
+	virtual real_t map_get_edge_connection_margin(RID p_map) const override;
+	virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) override;
+	virtual real_t map_get_link_connection_radius(RID p_map) const override;
+	virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) override;
+	virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const override;
+	virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const override;
+	virtual TypedArray<RID> map_get_links(RID p_map) const override;
+	virtual TypedArray<RID> map_get_regions(RID p_map) const override;
+	virtual TypedArray<RID> map_get_agents(RID p_map) const override;
+	virtual TypedArray<RID> map_get_obstacles(RID p_map) const override;
+	virtual void map_force_update(RID p_map) override;
+	virtual Vector2 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const override;
+	virtual uint32_t map_get_iteration_id(RID p_map) const override;
+	virtual void map_set_use_async_iterations(RID p_map, bool p_enabled) override;
+	virtual bool map_get_use_async_iterations(RID p_map) const override;
+
+	virtual RID region_create() override;
+	virtual void region_set_enabled(RID p_region, bool p_enabled) override;
+	virtual bool region_get_enabled(RID p_region) const override;
+	virtual void region_set_use_edge_connections(RID p_region, bool p_enabled) override;
+	virtual bool region_get_use_edge_connections(RID p_region) const override;
+	virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) override;
+	virtual real_t region_get_enter_cost(RID p_region) const override;
+	virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) override;
+	virtual real_t region_get_travel_cost(RID p_region) const override;
+	virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) override;
+	virtual ObjectID region_get_owner_id(RID p_region) const override;
+	virtual bool region_owns_point(RID p_region, const Vector2 &p_point) const override;
+	virtual void region_set_map(RID p_region, RID p_map) override;
+	virtual RID region_get_map(RID p_region) const override;
+	virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) override;
+	virtual uint32_t region_get_navigation_layers(RID p_region) const override;
+	virtual void region_set_transform(RID p_region, Transform2D p_transform) override;
+	virtual Transform2D region_get_transform(RID p_region) const override;
+	virtual void region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon) override;
+	virtual int region_get_connections_count(RID p_region) const override;
+	virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override;
+	virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override;
+	virtual Vector2 region_get_closest_point(RID p_region, const Vector2 &p_point) const override;
+	virtual Vector2 region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const override;
+	virtual Rect2 region_get_bounds(RID p_region) const override;
+
+	virtual RID link_create() override;
+
+	/// Set the map of this link.
+	virtual void link_set_map(RID p_link, RID p_map) override;
+	virtual RID link_get_map(RID p_link) const override;
+
+	virtual void link_set_enabled(RID p_link, bool p_enabled) override;
+	virtual bool link_get_enabled(RID p_link) const override;
+
+	/// Set whether this link travels in both directions.
+	virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) override;
+	virtual bool link_is_bidirectional(RID p_link) const override;
+
+	/// Set the link's layers.
+	virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) override;
+	virtual uint32_t link_get_navigation_layers(RID p_link) const override;
+
+	/// Set the start position of the link.
+	virtual void link_set_start_position(RID p_link, Vector2 p_position) override;
+	virtual Vector2 link_get_start_position(RID p_link) const override;
+
+	/// Set the end position of the link.
+	virtual void link_set_end_position(RID p_link, Vector2 p_position) override;
+	virtual Vector2 link_get_end_position(RID p_link) const override;
+
+	/// Set the enter cost of the link.
+	virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) override;
+	virtual real_t link_get_enter_cost(RID p_link) const override;
+
+	/// Set the travel cost of the link.
+	virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) override;
+	virtual real_t link_get_travel_cost(RID p_link) const override;
+
+	/// Set the node which manages this link.
+	virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) override;
+	virtual ObjectID link_get_owner_id(RID p_link) const override;
+
+	/// Creates the agent.
+	virtual RID agent_create() override;
+
+	/// Put the agent in the map.
+	virtual void agent_set_map(RID p_agent, RID p_map) override;
+	virtual RID agent_get_map(RID p_agent) const override;
+
+	virtual void agent_set_paused(RID p_agent, bool p_paused) override;
+	virtual bool agent_get_paused(RID p_agent) const override;
+
+	virtual void agent_set_avoidance_enabled(RID p_agent, bool p_enabled) override;
+	virtual bool agent_get_avoidance_enabled(RID p_agent) const override;
+
+	/// The maximum distance (center point to
+	/// center point) to other agents this agent
+	/// takes into account in the navigation. The
+	/// larger this number, the longer the running
+	/// time of the simulation. If the number is too
+	/// low, the simulation will not be safe.
+	/// Must be non-negative.
+	virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) override;
+	virtual real_t agent_get_neighbor_distance(RID p_agent) const override;
+
+	/// The maximum number of other agents this
+	/// agent takes into account in the navigation.
+	/// The larger this number, the longer the
+	/// running time of the simulation. If the
+	/// number is too low, the simulation will not
+	/// be safe.
+	virtual void agent_set_max_neighbors(RID p_agent, int p_count) override;
+	virtual int agent_get_max_neighbors(RID p_agent) const override;
+
+	/// The minimal amount of time for which this
+	/// agent's velocities that are computed by the
+	/// simulation are safe with respect to other
+	/// agents. The larger this number, the sooner
+	/// this agent will respond to the presence of
+	/// other agents, but the less freedom this
+	/// agent has in choosing its velocities.
+	/// Must be positive.
+	virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon) override;
+	virtual real_t agent_get_time_horizon_agents(RID p_agent) const override;
+	virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon) override;
+	virtual real_t agent_get_time_horizon_obstacles(RID p_agent) const override;
+
+	/// The radius of this agent.
+	/// Must be non-negative.
+	virtual void agent_set_radius(RID p_agent, real_t p_radius) override;
+	virtual real_t agent_get_radius(RID p_agent) const override;
+
+	/// The maximum speed of this agent.
+	/// Must be non-negative.
+	virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) override;
+	virtual real_t agent_get_max_speed(RID p_agent) const override;
+
+	/// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly
+	virtual void agent_set_velocity_forced(RID p_agent, Vector2 p_velocity) override;
+
+	/// The wanted velocity for the agent as a "suggestion" to the avoidance simulation.
+	/// The simulation will try to fulfill this velocity wish if possible but may change the velocity depending on other agent's and obstacles'.
+	virtual void agent_set_velocity(RID p_agent, Vector2 p_velocity) override;
+	virtual Vector2 agent_get_velocity(RID p_agent) const override;
+
+	/// Position of the agent in world space.
+	virtual void agent_set_position(RID p_agent, Vector2 p_position) override;
+	virtual Vector2 agent_get_position(RID p_agent) const override;
+
+	/// Returns true if the map got changed the previous frame.
+	virtual bool agent_is_map_changed(RID p_agent) const override;
+
+	/// Callback called at the end of the RVO process
+	virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback) override;
+	virtual bool agent_has_avoidance_callback(RID p_agent) const override;
+
+	virtual void agent_set_avoidance_layers(RID p_agent, uint32_t p_layers) override;
+	virtual uint32_t agent_get_avoidance_layers(RID p_agent) const override;
+
+	virtual void agent_set_avoidance_mask(RID p_agent, uint32_t p_mask) override;
+	virtual uint32_t agent_get_avoidance_mask(RID p_agent) const override;
+
+	virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority) override;
+	virtual real_t agent_get_avoidance_priority(RID p_agent) const override;
+
+	virtual RID obstacle_create() override;
+	virtual void obstacle_set_avoidance_enabled(RID p_obstacle, bool p_enabled) override;
+	virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const override;
+	virtual void obstacle_set_map(RID p_obstacle, RID p_map) override;
+	virtual RID obstacle_get_map(RID p_obstacle) const override;
+	virtual void obstacle_set_paused(RID p_obstacle, bool p_paused) override;
+	virtual bool obstacle_get_paused(RID p_obstacle) const override;
+	virtual void obstacle_set_radius(RID p_obstacle, real_t p_radius) override;
+	virtual real_t obstacle_get_radius(RID p_obstacle) const override;
+	virtual void obstacle_set_velocity(RID p_obstacle, Vector2 p_velocity) override;
+	virtual Vector2 obstacle_get_velocity(RID p_obstacle) const override;
+	virtual void obstacle_set_position(RID p_obstacle, Vector2 p_position) override;
+	virtual Vector2 obstacle_get_position(RID p_obstacle) const override;
+	virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector2> &p_vertices) override;
+	virtual Vector<Vector2> obstacle_get_vertices(RID p_obstacle) const override;
+	virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers) override;
+	virtual uint32_t obstacle_get_avoidance_layers(RID p_obstacle) const override;
+
+	virtual void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result, const Callable &p_callback) override;
+
+	virtual void init() override;
+	virtual void sync() override;
+	virtual void finish() override;
+	virtual void free(RID p_object) override;
+
+	virtual void parse_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) override;
+	virtual void bake_from_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
+	virtual void bake_from_source_geometry_data_async(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
+	virtual bool is_baking_navigation_polygon(Ref<NavigationPolygon> p_navigation_polygon) const override;
+
+	virtual RID source_geometry_parser_create() override;
+	virtual void source_geometry_parser_set_callback(RID p_parser, const Callable &p_callback) override;
+
+	virtual Vector<Vector2> simplify_path(const Vector<Vector2> &p_path, real_t p_epsilon) override;
+};
+
+#endif // GODOT_NAVIGATION_SERVER_2D_H

engine/modules/navigation/2d/nav_mesh_generator_2d.cpp

@@ -0,0 +1,525 @@
+/**************************************************************************/
+/*  nav_mesh_generator_2d.cpp                                             */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#ifdef CLIPPER2_ENABLED
+
+#include "nav_mesh_generator_2d.h"
+
+#include "core/config/project_settings.h"
+#include "scene/resources/2d/navigation_mesh_source_geometry_data_2d.h"
+#include "scene/resources/2d/navigation_polygon.h"
+
+#include "thirdparty/clipper2/include/clipper2/clipper.h"
+#include "thirdparty/misc/polypartition.h"
+
+NavMeshGenerator2D *NavMeshGenerator2D::singleton = nullptr;
+Mutex NavMeshGenerator2D::baking_navmesh_mutex;
+Mutex NavMeshGenerator2D::generator_task_mutex;
+RWLock NavMeshGenerator2D::generator_parsers_rwlock;
+bool NavMeshGenerator2D::use_threads = true;
+bool NavMeshGenerator2D::baking_use_multiple_threads = true;
+bool NavMeshGenerator2D::baking_use_high_priority_threads = true;
+HashSet<Ref<NavigationPolygon>> NavMeshGenerator2D::baking_navmeshes;
+HashMap<WorkerThreadPool::TaskID, NavMeshGenerator2D::NavMeshGeneratorTask2D *> NavMeshGenerator2D::generator_tasks;
+LocalVector<NavMeshGeometryParser2D *> NavMeshGenerator2D::generator_parsers;
+
+NavMeshGenerator2D *NavMeshGenerator2D::get_singleton() {
+	return singleton;
+}
+
+NavMeshGenerator2D::NavMeshGenerator2D() {
+	ERR_FAIL_COND(singleton != nullptr);
+	singleton = this;
+
+	baking_use_multiple_threads = GLOBAL_GET("navigation/baking/thread_model/baking_use_multiple_threads");
+	baking_use_high_priority_threads = GLOBAL_GET("navigation/baking/thread_model/baking_use_high_priority_threads");
+
+	// Using threads might cause problems on certain exports or with the Editor on certain devices.
+	// This is the main switch to turn threaded navmesh baking off should the need arise.
+	use_threads = baking_use_multiple_threads;
+}
+
+NavMeshGenerator2D::~NavMeshGenerator2D() {
+	cleanup();
+}
+
+void NavMeshGenerator2D::sync() {
+	if (generator_tasks.size() == 0) {
+		return;
+	}
+
+	MutexLock baking_navmesh_lock(baking_navmesh_mutex);
+	{
+		MutexLock generator_task_lock(generator_task_mutex);
+
+		LocalVector<WorkerThreadPool::TaskID> finished_task_ids;
+
+		for (KeyValue<WorkerThreadPool::TaskID, NavMeshGeneratorTask2D *> &E : generator_tasks) {
+			if (WorkerThreadPool::get_singleton()->is_task_completed(E.key)) {
+				WorkerThreadPool::get_singleton()->wait_for_task_completion(E.key);
+				finished_task_ids.push_back(E.key);
+
+				NavMeshGeneratorTask2D *generator_task = E.value;
+				DEV_ASSERT(generator_task->status == NavMeshGeneratorTask2D::TaskStatus::BAKING_FINISHED);
+
+				baking_navmeshes.erase(generator_task->navigation_mesh);
+				if (generator_task->callback.is_valid()) {
+					generator_emit_callback(generator_task->callback);
+				}
+				memdelete(generator_task);
+			}
+		}
+
+		for (WorkerThreadPool::TaskID finished_task_id : finished_task_ids) {
+			generator_tasks.erase(finished_task_id);
+		}
+	}
+}
+
+void NavMeshGenerator2D::cleanup() {
+	MutexLock baking_navmesh_lock(baking_navmesh_mutex);
+	{
+		MutexLock generator_task_lock(generator_task_mutex);
+
+		baking_navmeshes.clear();
+
+		for (KeyValue<WorkerThreadPool::TaskID, NavMeshGeneratorTask2D *> &E : generator_tasks) {
+			WorkerThreadPool::get_singleton()->wait_for_task_completion(E.key);
+			NavMeshGeneratorTask2D *generator_task = E.value;
+			memdelete(generator_task);
+		}
+		generator_tasks.clear();
+
+		generator_parsers_rwlock.write_lock();
+		generator_parsers.clear();
+		generator_parsers_rwlock.write_unlock();
+	}
+}
+
+void NavMeshGenerator2D::finish() {
+	cleanup();
+}
+
+void NavMeshGenerator2D::parse_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
+	ERR_FAIL_COND(!Thread::is_main_thread());
+	ERR_FAIL_COND(p_navigation_mesh.is_null());
+	ERR_FAIL_NULL(p_root_node);
+	ERR_FAIL_COND(!p_root_node->is_inside_tree());
+	ERR_FAIL_COND(p_source_geometry_data.is_null());
+
+	generator_parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node);
+
+	if (p_callback.is_valid()) {
+		generator_emit_callback(p_callback);
+	}
+}
+
+void NavMeshGenerator2D::bake_from_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, const Callable &p_callback) {
+	ERR_FAIL_COND(p_navigation_mesh.is_null());
+	ERR_FAIL_COND(p_source_geometry_data.is_null());
+
+	if (p_navigation_mesh->get_outline_count() == 0 && !p_source_geometry_data->has_data()) {
+		p_navigation_mesh->clear();
+		if (p_callback.is_valid()) {
+			generator_emit_callback(p_callback);
+		}
+		return;
+	}
+
+	if (is_baking(p_navigation_mesh)) {
+		ERR_FAIL_MSG("NavigationPolygon is already baking. Wait for current bake to finish.");
+	}
+	baking_navmesh_mutex.lock();
+	baking_navmeshes.insert(p_navigation_mesh);
+	baking_navmesh_mutex.unlock();
+
+	generator_bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data);
+
+	baking_navmesh_mutex.lock();
+	baking_navmeshes.erase(p_navigation_mesh);
+	baking_navmesh_mutex.unlock();
+
+	if (p_callback.is_valid()) {
+		generator_emit_callback(p_callback);
+	}
+}
+
+void NavMeshGenerator2D::bake_from_source_geometry_data_async(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, const Callable &p_callback) {
+	ERR_FAIL_COND(p_navigation_mesh.is_null());
+	ERR_FAIL_COND(p_source_geometry_data.is_null());
+
+	if (p_navigation_mesh->get_outline_count() == 0 && !p_source_geometry_data->has_data()) {
+		p_navigation_mesh->clear();
+		if (p_callback.is_valid()) {
+			generator_emit_callback(p_callback);
+		}
+		return;
+	}
+
+	if (!use_threads) {
+		bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
+		return;
+	}
+
+	if (is_baking(p_navigation_mesh)) {
+		ERR_FAIL_MSG("NavigationPolygon is already baking. Wait for current bake to finish.");
+	}
+	baking_navmesh_mutex.lock();
+	baking_navmeshes.insert(p_navigation_mesh);
+	baking_navmesh_mutex.unlock();
+
+	MutexLock generator_task_lock(generator_task_mutex);
+	NavMeshGeneratorTask2D *generator_task = memnew(NavMeshGeneratorTask2D);
+	generator_task->navigation_mesh = p_navigation_mesh;
+	generator_task->source_geometry_data = p_source_geometry_data;
+	generator_task->callback = p_callback;
+	generator_task->status = NavMeshGeneratorTask2D::TaskStatus::BAKING_STARTED;
+	generator_task->thread_task_id = WorkerThreadPool::get_singleton()->add_native_task(&NavMeshGenerator2D::generator_thread_bake, generator_task, NavMeshGenerator2D::baking_use_high_priority_threads, "NavMeshGeneratorBake2D");
+	generator_tasks.insert(generator_task->thread_task_id, generator_task);
+}
+
+bool NavMeshGenerator2D::is_baking(Ref<NavigationPolygon> p_navigation_polygon) {
+	MutexLock baking_navmesh_lock(baking_navmesh_mutex);
+	return baking_navmeshes.has(p_navigation_polygon);
+}
+
+void NavMeshGenerator2D::generator_thread_bake(void *p_arg) {
+	NavMeshGeneratorTask2D *generator_task = static_cast<NavMeshGeneratorTask2D *>(p_arg);
+
+	generator_bake_from_source_geometry_data(generator_task->navigation_mesh, generator_task->source_geometry_data);
+
+	generator_task->status = NavMeshGeneratorTask2D::TaskStatus::BAKING_FINISHED;
+}
+
+void NavMeshGenerator2D::generator_parse_geometry_node(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node, bool p_recurse_children) {
+	generator_parsers_rwlock.read_lock();
+	for (const NavMeshGeometryParser2D *parser : generator_parsers) {
+		if (!parser->callback.is_valid()) {
+			continue;
+		}
+		parser->callback.call(p_navigation_mesh, p_source_geometry_data, p_node);
+	}
+	generator_parsers_rwlock.read_unlock();
+
+	if (p_recurse_children) {
+		for (int i = 0; i < p_node->get_child_count(); i++) {
+			generator_parse_geometry_node(p_navigation_mesh, p_source_geometry_data, p_node->get_child(i), p_recurse_children);
+		}
+	}
+}
+
+void NavMeshGenerator2D::set_generator_parsers(LocalVector<NavMeshGeometryParser2D *> p_parsers) {
+	RWLockWrite write_lock(generator_parsers_rwlock);
+	generator_parsers = p_parsers;
+}
+
+void NavMeshGenerator2D::generator_parse_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_root_node) {
+	List<Node *> parse_nodes;
+
+	if (p_navigation_mesh->get_source_geometry_mode() == NavigationPolygon::SOURCE_GEOMETRY_ROOT_NODE_CHILDREN) {
+		parse_nodes.push_back(p_root_node);
+	} else {
+		p_root_node->get_tree()->get_nodes_in_group(p_navigation_mesh->get_source_geometry_group_name(), &parse_nodes);
+	}
+
+	Transform2D root_node_transform = Transform2D();
+	if (Object::cast_to<Node2D>(p_root_node)) {
+		root_node_transform = Object::cast_to<Node2D>(p_root_node)->get_global_transform().affine_inverse();
+	}
+
+	p_source_geometry_data->clear();
+	p_source_geometry_data->root_node_transform = root_node_transform;
+
+	bool recurse_children = p_navigation_mesh->get_source_geometry_mode() != NavigationPolygon::SOURCE_GEOMETRY_GROUPS_EXPLICIT;
+
+	for (Node *E : parse_nodes) {
+		generator_parse_geometry_node(p_navigation_mesh, p_source_geometry_data, E, recurse_children);
+	}
+}
+
+static void generator_recursive_process_polytree_items(List<TPPLPoly> &p_tppl_in_polygon, const Clipper2Lib::PolyPathD *p_polypath_item) {
+	using namespace Clipper2Lib;
+
+	TPPLPoly tp;
+	int size = p_polypath_item->Polygon().size();
+	tp.Init(size);
+
+	int j = 0;
+	for (const PointD &polypath_point : p_polypath_item->Polygon()) {
+		tp[j] = Vector2(static_cast<real_t>(polypath_point.x), static_cast<real_t>(polypath_point.y));
+		++j;
+	}
+
+	if (p_polypath_item->IsHole()) {
+		tp.SetOrientation(TPPL_ORIENTATION_CW);
+		tp.SetHole(true);
+	} else {
+		tp.SetOrientation(TPPL_ORIENTATION_CCW);
+	}
+	p_tppl_in_polygon.push_back(tp);
+
+	for (size_t i = 0; i < p_polypath_item->Count(); i++) {
+		const PolyPathD *polypath_item = p_polypath_item->Child(i);
+		generator_recursive_process_polytree_items(p_tppl_in_polygon, polypath_item);
+	}
+}
+
+bool NavMeshGenerator2D::generator_emit_callback(const Callable &p_callback) {
+	ERR_FAIL_COND_V(!p_callback.is_valid(), false);
+
+	Callable::CallError ce;
+	Variant result;
+	p_callback.callp(nullptr, 0, result, ce);
+
+	return ce.error == Callable::CallError::CALL_OK;
+}
+
+void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data) {
+	if (p_navigation_mesh.is_null() || p_source_geometry_data.is_null()) {
+		return;
+	}
+
+	using namespace Clipper2Lib;
+	PathsD traversable_polygon_paths;
+	PathsD obstruction_polygon_paths;
+	bool empty_projected_obstructions = true;
+	{
+		RWLockRead read_lock(p_source_geometry_data->geometry_rwlock);
+
+		const Vector<Vector<Vector2>> &traversable_outlines = p_source_geometry_data->traversable_outlines;
+		int outline_count = p_navigation_mesh->get_outline_count();
+
+		if (outline_count == 0 && (!p_source_geometry_data->has_data() || (traversable_outlines.is_empty()))) {
+			return;
+		}
+
+		const Vector<Vector<Vector2>> &obstruction_outlines = p_source_geometry_data->obstruction_outlines;
+		const Vector<NavigationMeshSourceGeometryData2D::ProjectedObstruction> &projected_obstructions = p_source_geometry_data->_projected_obstructions;
+
+		traversable_polygon_paths.reserve(outline_count + traversable_outlines.size());
+		obstruction_polygon_paths.reserve(obstruction_outlines.size());
+
+		for (int i = 0; i < outline_count; i++) {
+			const Vector<Vector2> &traversable_outline = p_navigation_mesh->get_outline(i);
+			PathD subject_path;
+			subject_path.reserve(traversable_outline.size());
+			for (const Vector2 &traversable_point : traversable_outline) {
+				subject_path.emplace_back(traversable_point.x, traversable_point.y);
+			}
+			traversable_polygon_paths.push_back(std::move(subject_path));
+		}
+
+		for (const Vector<Vector2> &traversable_outline : traversable_outlines) {
+			PathD subject_path;
+			subject_path.reserve(traversable_outline.size());
+			for (const Vector2 &traversable_point : traversable_outline) {
+				subject_path.emplace_back(traversable_point.x, traversable_point.y);
+			}
+			traversable_polygon_paths.push_back(std::move(subject_path));
+		}
+
+		empty_projected_obstructions = projected_obstructions.is_empty();
+		if (!empty_projected_obstructions) {
+			for (const NavigationMeshSourceGeometryData2D::ProjectedObstruction &projected_obstruction : projected_obstructions) {
+				if (projected_obstruction.carve) {
+					continue;
+				}
+				if (projected_obstruction.vertices.is_empty() || projected_obstruction.vertices.size() % 2 != 0) {
+					continue;
+				}
+
+				PathD clip_path;
+				clip_path.reserve(projected_obstruction.vertices.size() / 2);
+				for (int i = 0; i < projected_obstruction.vertices.size() / 2; i++) {
+					clip_path.emplace_back(projected_obstruction.vertices[i * 2], projected_obstruction.vertices[i * 2 + 1]);
+				}
+				if (!IsPositive(clip_path)) {
+					std::reverse(clip_path.begin(), clip_path.end());
+				}
+				obstruction_polygon_paths.push_back(std::move(clip_path));
+			}
+		}
+
+		for (const Vector<Vector2> &obstruction_outline : obstruction_outlines) {
+			PathD clip_path;
+			clip_path.reserve(obstruction_outline.size());
+			for (const Vector2 &obstruction_point : obstruction_outline) {
+				clip_path.emplace_back(obstruction_point.x, obstruction_point.y);
+			}
+			obstruction_polygon_paths.push_back(std::move(clip_path));
+		}
+	}
+
+	Rect2 baking_rect = p_navigation_mesh->get_baking_rect();
+	if (baking_rect.has_area()) {
+		Vector2 baking_rect_offset = p_navigation_mesh->get_baking_rect_offset();
+
+		const int rect_begin_x = baking_rect.position[0] + baking_rect_offset.x;
+		const int rect_begin_y = baking_rect.position[1] + baking_rect_offset.y;
+		const int rect_end_x = baking_rect.position[0] + baking_rect.size[0] + baking_rect_offset.x;
+		const int rect_end_y = baking_rect.position[1] + baking_rect.size[1] + baking_rect_offset.y;
+
+		RectD clipper_rect = RectD(rect_begin_x, rect_begin_y, rect_end_x, rect_end_y);
+
+		traversable_polygon_paths = RectClip(clipper_rect, traversable_polygon_paths);
+		obstruction_polygon_paths = RectClip(clipper_rect, obstruction_polygon_paths);
+	}
+
+	// first merge all traversable polygons according to user specified fill rule
+	PathsD dummy_clip_path;
+	traversable_polygon_paths = Union(traversable_polygon_paths, dummy_clip_path, FillRule::NonZero);
+	// merge all obstruction polygons, don't allow holes for what is considered "solid" 2D geometry
+	obstruction_polygon_paths = Union(obstruction_polygon_paths, dummy_clip_path, FillRule::NonZero);
+
+	PathsD path_solution = Difference(traversable_polygon_paths, obstruction_polygon_paths, FillRule::NonZero);
+
+	real_t agent_radius_offset = p_navigation_mesh->get_agent_radius();
+	if (agent_radius_offset > 0.0) {
+		path_solution = InflatePaths(path_solution, -agent_radius_offset, JoinType::Miter, EndType::Polygon);
+	}
+
+	// Apply obstructions that are not affected by agent radius, the ones with carve enabled.
+	if (!empty_projected_obstructions) {
+		RWLockRead read_lock(p_source_geometry_data->geometry_rwlock);
+		const Vector<NavigationMeshSourceGeometryData2D::ProjectedObstruction> &projected_obstructions = p_source_geometry_data->_projected_obstructions;
+		obstruction_polygon_paths.resize(0);
+		for (const NavigationMeshSourceGeometryData2D::ProjectedObstruction &projected_obstruction : projected_obstructions) {
+			if (!projected_obstruction.carve) {
+				continue;
+			}
+			if (projected_obstruction.vertices.is_empty() || projected_obstruction.vertices.size() % 2 != 0) {
+				continue;
+			}
+
+			PathD clip_path;
+			clip_path.reserve(projected_obstruction.vertices.size() / 2);
+			for (int i = 0; i < projected_obstruction.vertices.size() / 2; i++) {
+				clip_path.emplace_back(projected_obstruction.vertices[i * 2], projected_obstruction.vertices[i * 2 + 1]);
+			}
+			if (!IsPositive(clip_path)) {
+				std::reverse(clip_path.begin(), clip_path.end());
+			}
+			obstruction_polygon_paths.push_back(std::move(clip_path));
+		}
+		if (obstruction_polygon_paths.size() > 0) {
+			path_solution = Difference(path_solution, obstruction_polygon_paths, FillRule::NonZero);
+		}
+	}
+
+	//path_solution = RamerDouglasPeucker(path_solution, 0.025); //
+
+	real_t border_size = p_navigation_mesh->get_border_size();
+	if (baking_rect.has_area() && border_size > 0.0) {
+		Vector2 baking_rect_offset = p_navigation_mesh->get_baking_rect_offset();
+
+		const int rect_begin_x = baking_rect.position[0] + baking_rect_offset.x + border_size;
+		const int rect_begin_y = baking_rect.position[1] + baking_rect_offset.y + border_size;
+		const int rect_end_x = baking_rect.position[0] + baking_rect.size[0] + baking_rect_offset.x - border_size;
+		const int rect_end_y = baking_rect.position[1] + baking_rect.size[1] + baking_rect_offset.y - border_size;
+
+		RectD clipper_rect = RectD(rect_begin_x, rect_begin_y, rect_end_x, rect_end_y);
+
+		path_solution = RectClip(clipper_rect, path_solution);
+	}
+
+	if (path_solution.size() == 0) {
+		p_navigation_mesh->clear();
+		return;
+	}
+
+	ClipType clipper_cliptype = ClipType::Union;
+
+	List<TPPLPoly> tppl_in_polygon, tppl_out_polygon;
+
+	PolyTreeD polytree;
+	ClipperD clipper_D;
+
+	clipper_D.AddSubject(path_solution);
+	clipper_D.Execute(clipper_cliptype, FillRule::NonZero, polytree);
+
+	for (size_t i = 0; i < polytree.Count(); i++) {
+		const PolyPathD *polypath_item = polytree[i];
+		generator_recursive_process_polytree_items(tppl_in_polygon, polypath_item);
+	}
+
+	TPPLPartition tpart;
+
+	NavigationPolygon::SamplePartitionType sample_partition_type = p_navigation_mesh->get_sample_partition_type();
+
+	switch (sample_partition_type) {
+		case NavigationPolygon::SamplePartitionType::SAMPLE_PARTITION_CONVEX_PARTITION:
+			if (tpart.ConvexPartition_HM(&tppl_in_polygon, &tppl_out_polygon) == 0) {
+				ERR_PRINT("NavigationPolygon polygon convex partition failed. Unable to create a valid navigation mesh polygon layout from provided source geometry.");
+				p_navigation_mesh->set_vertices(Vector<Vector2>());
+				p_navigation_mesh->clear_polygons();
+				return;
+			}
+			break;
+		case NavigationPolygon::SamplePartitionType::SAMPLE_PARTITION_TRIANGULATE:
+			if (tpart.Triangulate_EC(&tppl_in_polygon, &tppl_out_polygon) == 0) {
+				ERR_PRINT("NavigationPolygon polygon triangulation failed. Unable to create a valid navigation mesh polygon layout from provided source geometry.");
+				p_navigation_mesh->set_vertices(Vector<Vector2>());
+				p_navigation_mesh->clear_polygons();
+				return;
+			}
+			break;
+		default: {
+			ERR_PRINT("NavigationPolygon polygon partitioning failed. Unrecognized partition type.");
+			p_navigation_mesh->set_vertices(Vector<Vector2>());
+			p_navigation_mesh->clear_polygons();
+			return;
+		}
+	}
+
+	Vector<Vector2> new_vertices;
+	Vector<Vector<int>> new_polygons;
+
+	HashMap<Vector2, int> points;
+	for (List<TPPLPoly>::Element *I = tppl_out_polygon.front(); I; I = I->next()) {
+		TPPLPoly &tp = I->get();
+
+		Vector<int> new_polygon;
+
+		for (int64_t i = 0; i < tp.GetNumPoints(); i++) {
+			HashMap<Vector2, int>::Iterator E = points.find(tp[i]);
+			if (!E) {
+				E = points.insert(tp[i], new_vertices.size());
+				new_vertices.push_back(tp[i]);
+			}
+			new_polygon.push_back(E->value);
+		}
+
+		new_polygons.push_back(new_polygon);
+	}
+
+	p_navigation_mesh->set_data(new_vertices, new_polygons);
+}
+
+#endif // CLIPPER2_ENABLED

engine/modules/navigation/2d/nav_mesh_generator_2d.h

@@ -0,0 +1,106 @@
+/**************************************************************************/
+/*  nav_mesh_generator_2d.h                                               */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#ifndef NAV_MESH_GENERATOR_2D_H
+#define NAV_MESH_GENERATOR_2D_H
+
+#ifdef CLIPPER2_ENABLED
+
+#include "core/object/class_db.h"
+#include "core/object/worker_thread_pool.h"
+#include "core/templates/rid_owner.h"
+#include "servers/navigation_server_2d.h"
+
+class Node;
+class NavigationPolygon;
+class NavigationMeshSourceGeometryData2D;
+
+class NavMeshGenerator2D : public Object {
+	static NavMeshGenerator2D *singleton;
+
+	static Mutex baking_navmesh_mutex;
+	static Mutex generator_task_mutex;
+
+	static RWLock generator_parsers_rwlock;
+	static LocalVector<NavMeshGeometryParser2D *> generator_parsers;
+
+	static bool use_threads;
+	static bool baking_use_multiple_threads;
+	static bool baking_use_high_priority_threads;
+
+	struct NavMeshGeneratorTask2D {
+		enum TaskStatus {
+			BAKING_STARTED,
+			BAKING_FINISHED,
+			BAKING_FAILED,
+			CALLBACK_DISPATCHED,
+			CALLBACK_FAILED,
+		};
+
+		Ref<NavigationPolygon> navigation_mesh;
+		Ref<NavigationMeshSourceGeometryData2D> source_geometry_data;
+		Callable callback;
+		WorkerThreadPool::TaskID thread_task_id = WorkerThreadPool::INVALID_TASK_ID;
+		NavMeshGeneratorTask2D::TaskStatus status = NavMeshGeneratorTask2D::TaskStatus::BAKING_STARTED;
+	};
+
+	static HashMap<WorkerThreadPool::TaskID, NavMeshGeneratorTask2D *> generator_tasks;
+
+	static void generator_thread_bake(void *p_arg);
+
+	static HashSet<Ref<NavigationPolygon>> baking_navmeshes;
+
+	static void generator_parse_geometry_node(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node, bool p_recurse_children);
+	static void generator_parse_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_root_node);
+	static void generator_bake_from_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data);
+
+	static bool generator_emit_callback(const Callable &p_callback);
+
+public:
+	static NavMeshGenerator2D *get_singleton();
+
+	static void sync();
+	static void cleanup();
+	static void finish();
+
+	static void set_generator_parsers(LocalVector<NavMeshGeometryParser2D *> p_parsers);
+
+	static void parse_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable());
+	static void bake_from_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, const Callable &p_callback = Callable());
+	static void bake_from_source_geometry_data_async(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, const Callable &p_callback = Callable());
+	static bool is_baking(Ref<NavigationPolygon> p_navigation_polygon);
+
+	NavMeshGenerator2D();
+	~NavMeshGenerator2D();
+};
+
+#endif // CLIPPER2_ENABLED
+
+#endif // NAV_MESH_GENERATOR_2D_H