godot/scene/2d/navigation_region_2d.cpp

/*************************************************************************/
/*  navigation_region_2d.cpp                                             */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                      https://godotengine.org                          */
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
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#include "navigation_region_2d.h"

#include "core/core_string_names.h"
#include "core/math/geometry_2d.h"
#include "core/os/mutex.h"
#include "scene/resources/world_2d.h"
#include "servers/navigation_server_2d.h"
#include "servers/navigation_server_3d.h"

#include "thirdparty/misc/polypartition.h"

#ifdef TOOLS_ENABLED
Rect2 NavigationPolygon::_edit_get_rect() const {
	if (rect_cache_dirty) {
		item_rect = Rect2();
		bool first = true;

		for (int i = 0; i < outlines.size(); i++) {
			const Vector<Vector2> &outline = outlines[i];
			const int outline_size = outline.size();
			if (outline_size < 3) {
				continue;
			}
			const Vector2 *p = outline.ptr();
			for (int j = 0; j < outline_size; j++) {
				if (first) {
					item_rect = Rect2(p[j], Vector2(0, 0));
					first = false;
				} else {
					item_rect.expand_to(p[j]);
				}
			}
		}

		rect_cache_dirty = false;
	}
	return item_rect;
}

bool NavigationPolygon::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const {
	for (int i = 0; i < outlines.size(); i++) {
		const Vector<Vector2> &outline = outlines[i];
		const int outline_size = outline.size();
		if (outline_size < 3) {
			continue;
		}
		if (Geometry2D::is_point_in_polygon(p_point, Variant(outline))) {
			return true;
		}
	}
	return false;
}
#endif

void NavigationPolygon::set_vertices(const Vector<Vector2> &p_vertices) {
	{
		MutexLock lock(navmesh_generation);
		navmesh.unref();
	}
	vertices = p_vertices;
	rect_cache_dirty = true;
}

Vector<Vector2> NavigationPolygon::get_vertices() const {
	return vertices;
}

void NavigationPolygon::_set_polygons(const TypedArray<Vector<int32_t>> &p_array) {
	{
		MutexLock lock(navmesh_generation);
		navmesh.unref();
	}
	polygons.resize(p_array.size());
	for (int i = 0; i < p_array.size(); i++) {
		polygons.write[i].indices = p_array[i];
	}
}

TypedArray<Vector<int32_t>> NavigationPolygon::_get_polygons() const {
	TypedArray<Vector<int32_t>> ret;
	ret.resize(polygons.size());
	for (int i = 0; i < ret.size(); i++) {
		ret[i] = polygons[i].indices;
	}

	return ret;
}

void NavigationPolygon::_set_outlines(const TypedArray<Vector<Vector2>> &p_array) {
	outlines.resize(p_array.size());
	for (int i = 0; i < p_array.size(); i++) {
		outlines.write[i] = p_array[i];
	}
	rect_cache_dirty = true;
}

TypedArray<Vector<Vector2>> NavigationPolygon::_get_outlines() const {
	TypedArray<Vector<Vector2>> ret;
	ret.resize(outlines.size());
	for (int i = 0; i < ret.size(); i++) {
		ret[i] = outlines[i];
	}

	return ret;
}

void NavigationPolygon::add_polygon(const Vector<int> &p_polygon) {
	Polygon polygon;
	polygon.indices = p_polygon;
	polygons.push_back(polygon);
	{
		MutexLock lock(navmesh_generation);
		navmesh.unref();
	}
}

void NavigationPolygon::add_outline_at_index(const Vector<Vector2> &p_outline, int p_index) {
	outlines.insert(p_index, p_outline);
	rect_cache_dirty = true;
}

int NavigationPolygon::get_polygon_count() const {
	return polygons.size();
}

Vector<int> NavigationPolygon::get_polygon(int p_idx) {
	ERR_FAIL_INDEX_V(p_idx, polygons.size(), Vector<int>());
	return polygons[p_idx].indices;
}

void NavigationPolygon::clear_polygons() {
	polygons.clear();
	{
		MutexLock lock(navmesh_generation);
		navmesh.unref();
	}
}

Ref<NavigationMesh> NavigationPolygon::get_mesh() {
	MutexLock lock(navmesh_generation);

	if (navmesh.is_null()) {
		navmesh.instantiate();
		Vector<Vector3> verts;
		{
			verts.resize(get_vertices().size());
			Vector3 *w = verts.ptrw();

			const Vector2 *r = get_vertices().ptr();

			for (int i(0); i < get_vertices().size(); i++) {
				w[i] = Vector3(r[i].x, 0.0, r[i].y);
			}
		}
		navmesh->set_vertices(verts);

		for (int i(0); i < get_polygon_count(); i++) {
			navmesh->add_polygon(get_polygon(i));
		}
	}

	return navmesh;
}

void NavigationPolygon::add_outline(const Vector<Vector2> &p_outline) {
	outlines.push_back(p_outline);
	rect_cache_dirty = true;
}

int NavigationPolygon::get_outline_count() const {
	return outlines.size();
}

void NavigationPolygon::set_outline(int p_idx, const Vector<Vector2> &p_outline) {
	ERR_FAIL_INDEX(p_idx, outlines.size());
	outlines.write[p_idx] = p_outline;
	rect_cache_dirty = true;
}

void NavigationPolygon::remove_outline(int p_idx) {
	ERR_FAIL_INDEX(p_idx, outlines.size());
	outlines.remove_at(p_idx);
	rect_cache_dirty = true;
}

Vector<Vector2> NavigationPolygon::get_outline(int p_idx) const {
	ERR_FAIL_INDEX_V(p_idx, outlines.size(), Vector<Vector2>());
	return outlines[p_idx];
}

void NavigationPolygon::clear_outlines() {
	outlines.clear();
	rect_cache_dirty = true;
}

void NavigationPolygon::make_polygons_from_outlines() {
	{
		MutexLock lock(navmesh_generation);
		navmesh.unref();
	}
	List<TPPLPoly> in_poly, out_poly;

	Vector2 outside_point(-1e10, -1e10);

	for (int i = 0; i < outlines.size(); i++) {
		Vector<Vector2> ol = outlines[i];
		int olsize = ol.size();
		if (olsize < 3) {
			continue;
		}
		const Vector2 *r = ol.ptr();
		for (int j = 0; j < olsize; j++) {
			outside_point.x = MAX(r[j].x, outside_point.x);
			outside_point.y = MAX(r[j].y, outside_point.y);
		}
	}

	outside_point += Vector2(0.7239784, 0.819238); //avoid precision issues

	for (int i = 0; i < outlines.size(); i++) {
		Vector<Vector2> ol = outlines[i];
		int olsize = ol.size();
		if (olsize < 3) {
			continue;
		}
		const Vector2 *r = ol.ptr();

		int interscount = 0;
		//test if this is an outer outline
		for (int k = 0; k < outlines.size(); k++) {
			if (i == k) {
				continue; //no self intersect
			}

			Vector<Vector2> ol2 = outlines[k];
			int olsize2 = ol2.size();
			if (olsize2 < 3) {
				continue;
			}
			const Vector2 *r2 = ol2.ptr();

			for (int l = 0; l < olsize2; l++) {
				if (Geometry2D::segment_intersects_segment(r[0], outside_point, r2[l], r2[(l + 1) % olsize2], nullptr)) {
					interscount++;
				}
			}
		}

		bool outer = (interscount % 2) == 0;

		TPPLPoly tp;
		tp.Init(olsize);
		for (int j = 0; j < olsize; j++) {
			tp[j] = r[j];
		}

		if (outer) {
			tp.SetOrientation(TPPL_ORIENTATION_CCW);
		} else {
			tp.SetOrientation(TPPL_ORIENTATION_CW);
			tp.SetHole(true);
		}

		in_poly.push_back(tp);
	}

	TPPLPartition tpart;
	if (tpart.ConvexPartition_HM(&in_poly, &out_poly) == 0) { //failed!
		ERR_PRINT("NavigationPolygon: Convex partition failed!");
		return;
	}

	polygons.clear();
	vertices.clear();

	HashMap<Vector2, int> points;
	for (List<TPPLPoly>::Element *I = out_poly.front(); I; I = I->next()) {
		TPPLPoly &tp = I->get();

		struct Polygon p;

		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], vertices.size());
				vertices.push_back(tp[i]);
			}
			p.indices.push_back(E->value);
		}

		polygons.push_back(p);
	}

	emit_signal(CoreStringNames::get_singleton()->changed);
}

void NavigationPolygon::_bind_methods() {
	ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationPolygon::set_vertices);
	ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationPolygon::get_vertices);

	ClassDB::bind_method(D_METHOD("add_polygon", "polygon"), &NavigationPolygon::add_polygon);
	ClassDB::bind_method(D_METHOD("get_polygon_count"), &NavigationPolygon::get_polygon_count);
	ClassDB::bind_method(D_METHOD("get_polygon", "idx"), &NavigationPolygon::get_polygon);
	ClassDB::bind_method(D_METHOD("clear_polygons"), &NavigationPolygon::clear_polygons);
	ClassDB::bind_method(D_METHOD("get_mesh"), &NavigationPolygon::get_mesh);

	ClassDB::bind_method(D_METHOD("add_outline", "outline"), &NavigationPolygon::add_outline);
	ClassDB::bind_method(D_METHOD("add_outline_at_index", "outline", "index"), &NavigationPolygon::add_outline_at_index);
	ClassDB::bind_method(D_METHOD("get_outline_count"), &NavigationPolygon::get_outline_count);
	ClassDB::bind_method(D_METHOD("set_outline", "idx", "outline"), &NavigationPolygon::set_outline);
	ClassDB::bind_method(D_METHOD("get_outline", "idx"), &NavigationPolygon::get_outline);
	ClassDB::bind_method(D_METHOD("remove_outline", "idx"), &NavigationPolygon::remove_outline);
	ClassDB::bind_method(D_METHOD("clear_outlines"), &NavigationPolygon::clear_outlines);
	ClassDB::bind_method(D_METHOD("make_polygons_from_outlines"), &NavigationPolygon::make_polygons_from_outlines);

	ClassDB::bind_method(D_METHOD("_set_polygons", "polygons"), &NavigationPolygon::_set_polygons);
	ClassDB::bind_method(D_METHOD("_get_polygons"), &NavigationPolygon::_get_polygons);

	ClassDB::bind_method(D_METHOD("_set_outlines", "outlines"), &NavigationPolygon::_set_outlines);
	ClassDB::bind_method(D_METHOD("_get_outlines"), &NavigationPolygon::_get_outlines);

	ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR2_ARRAY, "vertices", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "set_vertices", "get_vertices");
	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "polygons", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_polygons", "_get_polygons");
	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "outlines", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_outlines", "_get_outlines");
}

void NavigationRegion2D::set_enabled(bool p_enabled) {
	if (enabled == p_enabled) {
		return;
	}
	enabled = p_enabled;

	if (!is_inside_tree()) {
		return;
	}

	if (!enabled) {
		NavigationServer2D::get_singleton()->region_set_map(region, RID());
		NavigationServer2D::get_singleton_mut()->disconnect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
	} else {
		NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map());
		NavigationServer2D::get_singleton_mut()->connect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
	}

#ifdef DEBUG_ENABLED
	if (Engine::get_singleton()->is_editor_hint() || NavigationServer3D::get_singleton()->get_debug_enabled()) {
		update();
	}
#endif // DEBUG_ENABLED
}

bool NavigationRegion2D::is_enabled() const {
	return enabled;
}

void NavigationRegion2D::set_navigation_layers(uint32_t p_navigation_layers) {
	NavigationServer2D::get_singleton()->region_set_navigation_layers(region, p_navigation_layers);
}

uint32_t NavigationRegion2D::get_navigation_layers() const {
	return NavigationServer2D::get_singleton()->region_get_navigation_layers(region);
}

void NavigationRegion2D::set_navigation_layer_value(int p_layer_number, bool p_value) {
	ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive.");
	ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive.");
	uint32_t _navigation_layers = get_navigation_layers();
	if (p_value) {
		_navigation_layers |= 1 << (p_layer_number - 1);
	} else {
		_navigation_layers &= ~(1 << (p_layer_number - 1));
	}
	set_navigation_layers(_navigation_layers);
}

bool NavigationRegion2D::get_navigation_layer_value(int p_layer_number) const {
	ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive.");
	ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive.");
	return get_navigation_layers() & (1 << (p_layer_number - 1));
}

void NavigationRegion2D::set_enter_cost(real_t p_enter_cost) {
	ERR_FAIL_COND_MSG(p_enter_cost < 0.0, "The enter_cost must be positive.");
	enter_cost = MAX(p_enter_cost, 0.0);
	NavigationServer2D::get_singleton()->region_set_enter_cost(region, p_enter_cost);
}

real_t NavigationRegion2D::get_enter_cost() const {
	return enter_cost;
}

void NavigationRegion2D::set_travel_cost(real_t p_travel_cost) {
	ERR_FAIL_COND_MSG(p_travel_cost < 0.0, "The travel_cost must be positive.");
	travel_cost = MAX(p_travel_cost, 0.0);
	NavigationServer2D::get_singleton()->region_set_travel_cost(region, travel_cost);
}

real_t NavigationRegion2D::get_travel_cost() const {
	return travel_cost;
}

RID NavigationRegion2D::get_region_rid() const {
	return region;
}

/////////////////////////////
#ifdef TOOLS_ENABLED
Rect2 NavigationRegion2D::_edit_get_rect() const {
	return navpoly.is_valid() ? navpoly->_edit_get_rect() : Rect2();
}

bool NavigationRegion2D::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const {
	return navpoly.is_valid() ? navpoly->_edit_is_selected_on_click(p_point, p_tolerance) : false;
}
#endif

void NavigationRegion2D::_notification(int p_what) {
	switch (p_what) {
		case NOTIFICATION_ENTER_TREE: {
			if (enabled) {
				NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map());
				NavigationServer2D::get_singleton_mut()->connect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
			}
		} break;

		case NOTIFICATION_TRANSFORM_CHANGED: {
			NavigationServer2D::get_singleton()->region_set_transform(region, get_global_transform());
		} break;

		case NOTIFICATION_EXIT_TREE: {
			NavigationServer2D::get_singleton()->region_set_map(region, RID());
			if (enabled) {
				NavigationServer2D::get_singleton_mut()->disconnect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
			}
		} break;

		case NOTIFICATION_DRAW: {
#ifdef DEBUG_ENABLED
			if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || NavigationServer3D::get_singleton()->get_debug_enabled()) && navpoly.is_valid()) {
				Vector<Vector2> verts = navpoly->get_vertices();
				if (verts.size() < 3) {
					return;
				}

				Color color;
				if (enabled) {
					color = NavigationServer3D::get_singleton()->get_debug_navigation_geometry_face_color();
				} else {
					color = NavigationServer3D::get_singleton()->get_debug_navigation_geometry_face_disabled_color();
				}
				Color doors_color = NavigationServer3D::get_singleton()->get_debug_navigation_edge_connection_color();

				RandomPCG rand;

				for (int i = 0; i < navpoly->get_polygon_count(); i++) {
					// An array of vertices for this polygon.
					Vector<int> polygon = navpoly->get_polygon(i);
					Vector<Vector2> vertices;
					vertices.resize(polygon.size());
					for (int j = 0; j < polygon.size(); j++) {
						ERR_FAIL_INDEX(polygon[j], verts.size());
						vertices.write[j] = verts[polygon[j]];
					}

					// Generate the polygon color, slightly randomly modified from the settings one.
					Color random_variation_color;
					random_variation_color.set_hsv(color.get_h() + rand.random(-1.0, 1.0) * 0.1, color.get_s(), color.get_v() + rand.random(-1.0, 1.0) * 0.2);
					random_variation_color.a = color.a;
					Vector<Color> colors;
					colors.push_back(random_variation_color);

					RS::get_singleton()->canvas_item_add_polygon(get_canvas_item(), vertices, colors);
				}

				// Draw the region
				Transform2D xform = get_global_transform();
				const NavigationServer2D *ns = NavigationServer2D::get_singleton();
				real_t radius = ns->map_get_edge_connection_margin(get_world_2d()->get_navigation_map()) / 2.0;
				for (int i = 0; i < ns->region_get_connections_count(region); i++) {
					// Two main points
					Vector2 a = ns->region_get_connection_pathway_start(region, i);
					a = xform.affine_inverse().xform(a);
					Vector2 b = ns->region_get_connection_pathway_end(region, i);
					b = xform.affine_inverse().xform(b);
					draw_line(a, b, doors_color);

					// Draw a circle to illustrate the margins.
					real_t angle = a.angle_to_point(b);
					draw_arc(a, radius, angle + Math_PI / 2.0, angle - Math_PI / 2.0 + Math_TAU, 10, doors_color);
					draw_arc(b, radius, angle - Math_PI / 2.0, angle + Math_PI / 2.0, 10, doors_color);
				}
			}
#endif // DEBUG_ENABLED
		} break;
	}
}

void NavigationRegion2D::set_navigation_polygon(const Ref<NavigationPolygon> &p_navpoly) {
	if (p_navpoly == navpoly) {
		return;
	}

	if (navpoly.is_valid()) {
		navpoly->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &NavigationRegion2D::_navpoly_changed));
	}

	navpoly = p_navpoly;
	NavigationServer2D::get_singleton()->region_set_navpoly(region, p_navpoly);

	if (navpoly.is_valid()) {
		navpoly->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &NavigationRegion2D::_navpoly_changed));
	}
	_navpoly_changed();

	update_configuration_warnings();
}

Ref<NavigationPolygon> NavigationRegion2D::get_navigation_polygon() const {
	return navpoly;
}

void NavigationRegion2D::_navpoly_changed() {
	if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint())) {
		update();
	}
	if (navpoly.is_valid()) {
		NavigationServer2D::get_singleton()->region_set_navpoly(region, navpoly);
	}
}

void NavigationRegion2D::_map_changed(RID p_map) {
#ifdef DEBUG_ENABLED
	if (is_inside_tree() && get_world_2d()->get_navigation_map() == p_map) {
		update();
	}
#endif // DEBUG_ENABLED
}

TypedArray<String> NavigationRegion2D::get_configuration_warnings() const {
	TypedArray<String> warnings = Node2D::get_configuration_warnings();

	if (is_visible_in_tree() && is_inside_tree()) {
		if (!navpoly.is_valid()) {
			warnings.push_back(RTR("A NavigationMesh resource must be set or created for this node to work. Please set a property or draw a polygon."));
		}
	}

	return warnings;
}

void NavigationRegion2D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("set_navigation_polygon", "navpoly"), &NavigationRegion2D::set_navigation_polygon);
	ClassDB::bind_method(D_METHOD("get_navigation_polygon"), &NavigationRegion2D::get_navigation_polygon);

	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_navigation_layers", "navigation_layers"), &NavigationRegion2D::set_navigation_layers);
	ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationRegion2D::get_navigation_layers);

	ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationRegion2D::set_navigation_layer_value);
	ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationRegion2D::get_navigation_layer_value);

	ClassDB::bind_method(D_METHOD("get_region_rid"), &NavigationRegion2D::get_region_rid);

	ClassDB::bind_method(D_METHOD("set_enter_cost", "enter_cost"), &NavigationRegion2D::set_enter_cost);
	ClassDB::bind_method(D_METHOD("get_enter_cost"), &NavigationRegion2D::get_enter_cost);

	ClassDB::bind_method(D_METHOD("set_travel_cost", "travel_cost"), &NavigationRegion2D::set_travel_cost);
	ClassDB::bind_method(D_METHOD("get_travel_cost"), &NavigationRegion2D::get_travel_cost);

	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, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "enter_cost"), "set_enter_cost", "get_enter_cost");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "travel_cost"), "set_travel_cost", "get_travel_cost");
}

NavigationRegion2D::NavigationRegion2D() {
	set_notify_transform(true);
	region = NavigationServer2D::get_singleton()->region_create();
	NavigationServer2D::get_singleton()->region_set_enter_cost(region, get_enter_cost());
	NavigationServer2D::get_singleton()->region_set_travel_cost(region, get_travel_cost());

#ifdef DEBUG_ENABLED
	NavigationServer3D::get_singleton_mut()->connect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
	NavigationServer3D::get_singleton_mut()->connect("navigation_debug_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
#endif // DEBUG_ENABLED
}

NavigationRegion2D::~NavigationRegion2D() {
	NavigationServer2D::get_singleton()->free(region);

#ifdef DEBUG_ENABLED
	NavigationServer3D::get_singleton_mut()->disconnect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
	NavigationServer3D::get_singleton_mut()->disconnect("navigation_debug_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
#endif // DEBUG_ENABLED
}