381 lines
20 KiB
C++
381 lines
20 KiB
C++
/*************************************************************************/
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/* navigation_server_3d.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "navigation_server_3d.h"
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#ifdef DEBUG_ENABLED
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#include "core/config/project_settings.h"
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#endif // DEBUG_ENABLED
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NavigationServer3D *NavigationServer3D::singleton = nullptr;
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void NavigationServer3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_maps"), &NavigationServer3D::get_maps);
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ClassDB::bind_method(D_METHOD("map_create"), &NavigationServer3D::map_create);
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ClassDB::bind_method(D_METHOD("map_set_active", "map", "active"), &NavigationServer3D::map_set_active);
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ClassDB::bind_method(D_METHOD("map_is_active", "nap"), &NavigationServer3D::map_is_active);
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ClassDB::bind_method(D_METHOD("map_set_up", "map", "up"), &NavigationServer3D::map_set_up);
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ClassDB::bind_method(D_METHOD("map_get_up", "map"), &NavigationServer3D::map_get_up);
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ClassDB::bind_method(D_METHOD("map_set_cell_size", "map", "cell_size"), &NavigationServer3D::map_set_cell_size);
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ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer3D::map_get_cell_size);
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ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer3D::map_set_edge_connection_margin);
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ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer3D::map_get_edge_connection_margin);
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ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "navigation_layers"), &NavigationServer3D::map_get_path, DEFVAL(1));
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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));
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ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer3D::map_get_closest_point);
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ClassDB::bind_method(D_METHOD("map_get_closest_point_normal", "map", "to_point"), &NavigationServer3D::map_get_closest_point_normal);
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ClassDB::bind_method(D_METHOD("map_get_closest_point_owner", "map", "to_point"), &NavigationServer3D::map_get_closest_point_owner);
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ClassDB::bind_method(D_METHOD("map_get_regions", "map"), &NavigationServer3D::map_get_regions);
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ClassDB::bind_method(D_METHOD("map_get_agents", "map"), &NavigationServer3D::map_get_agents);
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ClassDB::bind_method(D_METHOD("map_force_update", "map"), &NavigationServer3D::map_force_update);
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ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer3D::region_create);
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ClassDB::bind_method(D_METHOD("region_set_enter_cost", "region", "enter_cost"), &NavigationServer3D::region_set_enter_cost);
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ClassDB::bind_method(D_METHOD("region_get_enter_cost", "region"), &NavigationServer3D::region_get_enter_cost);
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ClassDB::bind_method(D_METHOD("region_set_travel_cost", "region", "travel_cost"), &NavigationServer3D::region_set_travel_cost);
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ClassDB::bind_method(D_METHOD("region_get_travel_cost", "region"), &NavigationServer3D::region_get_travel_cost);
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ClassDB::bind_method(D_METHOD("region_owns_point", "region", "point"), &NavigationServer3D::region_owns_point);
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ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &NavigationServer3D::region_set_map);
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ClassDB::bind_method(D_METHOD("region_get_map", "region"), &NavigationServer3D::region_get_map);
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ClassDB::bind_method(D_METHOD("region_set_navigation_layers", "region", "navigation_layers"), &NavigationServer3D::region_set_navigation_layers);
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ClassDB::bind_method(D_METHOD("region_get_navigation_layers", "region"), &NavigationServer3D::region_get_navigation_layers);
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ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &NavigationServer3D::region_set_transform);
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ClassDB::bind_method(D_METHOD("region_set_navmesh", "region", "nav_mesh"), &NavigationServer3D::region_set_navmesh);
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ClassDB::bind_method(D_METHOD("region_bake_navmesh", "mesh", "node"), &NavigationServer3D::region_bake_navmesh);
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ClassDB::bind_method(D_METHOD("region_get_connections_count", "region"), &NavigationServer3D::region_get_connections_count);
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ClassDB::bind_method(D_METHOD("region_get_connection_pathway_start", "region", "connection"), &NavigationServer3D::region_get_connection_pathway_start);
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ClassDB::bind_method(D_METHOD("region_get_connection_pathway_end", "region", "connection"), &NavigationServer3D::region_get_connection_pathway_end);
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ClassDB::bind_method(D_METHOD("agent_create"), &NavigationServer3D::agent_create);
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ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &NavigationServer3D::agent_set_map);
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ClassDB::bind_method(D_METHOD("agent_get_map", "agent"), &NavigationServer3D::agent_get_map);
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ClassDB::bind_method(D_METHOD("agent_set_neighbor_dist", "agent", "dist"), &NavigationServer3D::agent_set_neighbor_dist);
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ClassDB::bind_method(D_METHOD("agent_set_max_neighbors", "agent", "count"), &NavigationServer3D::agent_set_max_neighbors);
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ClassDB::bind_method(D_METHOD("agent_set_time_horizon", "agent", "time"), &NavigationServer3D::agent_set_time_horizon);
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ClassDB::bind_method(D_METHOD("agent_set_radius", "agent", "radius"), &NavigationServer3D::agent_set_radius);
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ClassDB::bind_method(D_METHOD("agent_set_max_speed", "agent", "max_speed"), &NavigationServer3D::agent_set_max_speed);
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ClassDB::bind_method(D_METHOD("agent_set_velocity", "agent", "velocity"), &NavigationServer3D::agent_set_velocity);
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ClassDB::bind_method(D_METHOD("agent_set_target_velocity", "agent", "target_velocity"), &NavigationServer3D::agent_set_target_velocity);
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ClassDB::bind_method(D_METHOD("agent_set_position", "agent", "position"), &NavigationServer3D::agent_set_position);
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ClassDB::bind_method(D_METHOD("agent_is_map_changed", "agent"), &NavigationServer3D::agent_is_map_changed);
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ClassDB::bind_method(D_METHOD("agent_set_callback", "agent", "receiver", "method", "userdata"), &NavigationServer3D::agent_set_callback, DEFVAL(Variant()));
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ClassDB::bind_method(D_METHOD("free_rid", "rid"), &NavigationServer3D::free);
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ClassDB::bind_method(D_METHOD("set_active", "active"), &NavigationServer3D::set_active);
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ClassDB::bind_method(D_METHOD("process", "delta_time"), &NavigationServer3D::process);
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ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map")));
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ADD_SIGNAL(MethodInfo("navigation_debug_changed"));
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}
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const NavigationServer3D *NavigationServer3D::get_singleton() {
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return singleton;
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}
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NavigationServer3D *NavigationServer3D::get_singleton_mut() {
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return singleton;
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}
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NavigationServer3D::NavigationServer3D() {
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ERR_FAIL_COND(singleton != nullptr);
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singleton = this;
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#ifdef DEBUG_ENABLED
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debug_navigation_edge_connection_color = GLOBAL_DEF("debug/shapes/navigation/edge_connection_color", Color(1.0, 0.0, 1.0, 1.0));
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debug_navigation_geometry_edge_color = GLOBAL_DEF("debug/shapes/navigation/geometry_edge_color", Color(0.5, 1.0, 1.0, 1.0));
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debug_navigation_geometry_face_color = GLOBAL_DEF("debug/shapes/navigation/geometry_face_color", Color(0.5, 1.0, 1.0, 0.4));
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debug_navigation_geometry_edge_disabled_color = GLOBAL_DEF("debug/shapes/navigation/geometry_edge_disabled_color", Color(0.5, 0.5, 0.5, 1.0));
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debug_navigation_geometry_face_disabled_color = GLOBAL_DEF("debug/shapes/navigation/geometry_face_disabled_color", Color(0.5, 0.5, 0.5, 0.4));
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debug_navigation_enable_edge_connections = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections", true);
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debug_navigation_enable_edge_connections_xray = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections_xray", true);
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debug_navigation_enable_edge_lines = GLOBAL_DEF("debug/shapes/navigation/enable_edge_lines", true);
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debug_navigation_enable_edge_lines_xray = GLOBAL_DEF("debug/shapes/navigation/enable_edge_lines_xray", true);
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debug_navigation_enable_geometry_face_random_color = GLOBAL_DEF("debug/shapes/navigation/enable_geometry_face_random_color", true);
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#endif // DEBUG_ENABLED
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}
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NavigationServer3D::~NavigationServer3D() {
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singleton = nullptr;
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}
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NavigationServer3DCallback NavigationServer3DManager::create_callback = nullptr;
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void NavigationServer3DManager::set_default_server(NavigationServer3DCallback p_callback) {
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create_callback = p_callback;
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}
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NavigationServer3D *NavigationServer3DManager::new_default_server() {
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ERR_FAIL_COND_V(create_callback == nullptr, nullptr);
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return create_callback();
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}
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#ifdef DEBUG_ENABLED
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void NavigationServer3D::_emit_navigation_debug_changed_signal() {
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if (debug_dirty) {
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debug_dirty = false;
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emit_signal(SNAME("navigation_debug_changed"));
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}
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}
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#endif // DEBUG_ENABLED
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#ifdef DEBUG_ENABLED
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Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_face_material() {
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if (debug_navigation_geometry_face_material.is_valid()) {
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return debug_navigation_geometry_face_material;
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}
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bool enabled_geometry_face_random_color = get_debug_navigation_enable_geometry_face_random_color();
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Color debug_navigation_geometry_face_color = get_debug_navigation_geometry_face_color();
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Ref<StandardMaterial3D> face_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
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face_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
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face_material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
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face_material->set_albedo(debug_navigation_geometry_face_color);
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if (enabled_geometry_face_random_color) {
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face_material->set_flag(StandardMaterial3D::FLAG_SRGB_VERTEX_COLOR, true);
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face_material->set_flag(StandardMaterial3D::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
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}
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debug_navigation_geometry_face_material = face_material;
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return debug_navigation_geometry_face_material;
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}
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Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_edge_material() {
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if (debug_navigation_geometry_edge_material.is_valid()) {
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return debug_navigation_geometry_edge_material;
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}
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bool enabled_edge_lines_xray = get_debug_navigation_enable_edge_lines_xray();
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Color debug_navigation_geometry_edge_color = get_debug_navigation_geometry_edge_color();
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Ref<StandardMaterial3D> line_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
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line_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
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line_material->set_albedo(debug_navigation_geometry_edge_color);
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if (enabled_edge_lines_xray) {
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line_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
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}
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debug_navigation_geometry_edge_material = line_material;
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return debug_navigation_geometry_edge_material;
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}
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Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_face_disabled_material() {
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if (debug_navigation_geometry_face_disabled_material.is_valid()) {
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return debug_navigation_geometry_face_disabled_material;
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}
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Color debug_navigation_geometry_face_disabled_color = get_debug_navigation_geometry_face_disabled_color();
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Ref<StandardMaterial3D> face_disabled_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
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face_disabled_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
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face_disabled_material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
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face_disabled_material->set_albedo(debug_navigation_geometry_face_disabled_color);
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debug_navigation_geometry_face_disabled_material = face_disabled_material;
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return debug_navigation_geometry_face_disabled_material;
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}
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Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_edge_disabled_material() {
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if (debug_navigation_geometry_edge_disabled_material.is_valid()) {
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return debug_navigation_geometry_edge_disabled_material;
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}
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bool enabled_edge_lines_xray = get_debug_navigation_enable_edge_lines_xray();
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Color debug_navigation_geometry_edge_disabled_color = get_debug_navigation_geometry_edge_disabled_color();
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Ref<StandardMaterial3D> line_disabled_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
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line_disabled_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
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line_disabled_material->set_albedo(debug_navigation_geometry_edge_disabled_color);
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if (enabled_edge_lines_xray) {
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line_disabled_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
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}
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debug_navigation_geometry_edge_disabled_material = line_disabled_material;
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return debug_navigation_geometry_edge_disabled_material;
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}
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Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_edge_connections_material() {
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if (debug_navigation_edge_connections_material.is_valid()) {
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return debug_navigation_edge_connections_material;
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}
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bool enabled_edge_connections_xray = get_debug_navigation_enable_edge_connections_xray();
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Color debug_navigation_edge_connection_color = get_debug_navigation_edge_connection_color();
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Ref<StandardMaterial3D> edge_connections_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
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edge_connections_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
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edge_connections_material->set_albedo(debug_navigation_edge_connection_color);
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if (enabled_edge_connections_xray) {
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edge_connections_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true);
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}
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edge_connections_material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2);
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debug_navigation_edge_connections_material = edge_connections_material;
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return debug_navigation_edge_connections_material;
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}
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void NavigationServer3D::set_debug_navigation_edge_connection_color(const Color &p_color) {
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debug_navigation_edge_connection_color = p_color;
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if (debug_navigation_edge_connections_material.is_valid()) {
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debug_navigation_edge_connections_material->set_albedo(debug_navigation_edge_connection_color);
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}
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}
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Color NavigationServer3D::get_debug_navigation_edge_connection_color() const {
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return debug_navigation_edge_connection_color;
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}
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void NavigationServer3D::set_debug_navigation_geometry_edge_color(const Color &p_color) {
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debug_navigation_geometry_edge_color = p_color;
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if (debug_navigation_geometry_edge_material.is_valid()) {
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debug_navigation_geometry_edge_material->set_albedo(debug_navigation_geometry_edge_color);
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}
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}
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Color NavigationServer3D::get_debug_navigation_geometry_edge_color() const {
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return debug_navigation_geometry_edge_color;
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}
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void NavigationServer3D::set_debug_navigation_geometry_face_color(const Color &p_color) {
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debug_navigation_geometry_face_color = p_color;
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if (debug_navigation_geometry_face_material.is_valid()) {
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debug_navigation_geometry_face_material->set_albedo(debug_navigation_geometry_face_color);
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}
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}
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Color NavigationServer3D::get_debug_navigation_geometry_face_color() const {
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return debug_navigation_geometry_face_color;
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}
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void NavigationServer3D::set_debug_navigation_geometry_edge_disabled_color(const Color &p_color) {
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debug_navigation_geometry_edge_disabled_color = p_color;
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if (debug_navigation_geometry_edge_disabled_material.is_valid()) {
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debug_navigation_geometry_edge_disabled_material->set_albedo(debug_navigation_geometry_edge_disabled_color);
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}
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}
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Color NavigationServer3D::get_debug_navigation_geometry_edge_disabled_color() const {
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return debug_navigation_geometry_edge_disabled_color;
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}
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void NavigationServer3D::set_debug_navigation_geometry_face_disabled_color(const Color &p_color) {
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debug_navigation_geometry_face_disabled_color = p_color;
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if (debug_navigation_geometry_face_disabled_material.is_valid()) {
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debug_navigation_geometry_face_disabled_material->set_albedo(debug_navigation_geometry_face_disabled_color);
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}
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}
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Color NavigationServer3D::get_debug_navigation_geometry_face_disabled_color() const {
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return debug_navigation_geometry_face_disabled_color;
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}
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void NavigationServer3D::set_debug_navigation_enable_edge_connections(const bool p_value) {
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debug_navigation_enable_edge_connections = p_value;
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debug_dirty = true;
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call_deferred("_emit_navigation_debug_changed_signal");
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}
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bool NavigationServer3D::get_debug_navigation_enable_edge_connections() const {
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return debug_navigation_enable_edge_connections;
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}
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void NavigationServer3D::set_debug_navigation_enable_edge_connections_xray(const bool p_value) {
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debug_navigation_enable_edge_connections_xray = p_value;
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if (debug_navigation_edge_connections_material.is_valid()) {
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debug_navigation_edge_connections_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_edge_connections_xray);
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}
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}
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bool NavigationServer3D::get_debug_navigation_enable_edge_connections_xray() const {
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return debug_navigation_enable_edge_connections_xray;
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}
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void NavigationServer3D::set_debug_navigation_enable_edge_lines(const bool p_value) {
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debug_navigation_enable_edge_lines = p_value;
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debug_dirty = true;
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call_deferred("_emit_navigation_debug_changed_signal");
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}
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bool NavigationServer3D::get_debug_navigation_enable_edge_lines() const {
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return debug_navigation_enable_edge_lines;
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}
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void NavigationServer3D::set_debug_navigation_enable_edge_lines_xray(const bool p_value) {
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debug_navigation_enable_edge_lines_xray = p_value;
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if (debug_navigation_geometry_edge_material.is_valid()) {
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debug_navigation_geometry_edge_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_edge_lines_xray);
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}
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}
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bool NavigationServer3D::get_debug_navigation_enable_edge_lines_xray() const {
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return debug_navigation_enable_edge_lines_xray;
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}
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void NavigationServer3D::set_debug_navigation_enable_geometry_face_random_color(const bool p_value) {
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debug_navigation_enable_geometry_face_random_color = p_value;
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debug_dirty = true;
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call_deferred("_emit_navigation_debug_changed_signal");
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}
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|
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bool NavigationServer3D::get_debug_navigation_enable_geometry_face_random_color() const {
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return debug_navigation_enable_geometry_face_random_color;
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}
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void NavigationServer3D::set_debug_enabled(bool p_enabled) {
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if (debug_enabled != p_enabled) {
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|
debug_dirty = true;
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|
}
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|
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debug_enabled = p_enabled;
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|
|
|
if (debug_dirty) {
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|
call_deferred("_emit_navigation_debug_changed_signal");
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|
}
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|
}
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|
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bool NavigationServer3D::get_debug_enabled() const {
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|
return debug_enabled;
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|
}
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#endif // DEBUG_ENABLED
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