Merge pull request #72570 from DarkKilauea/nav-cleanup-agent

Improve consistency of NavigationAgent setters

6 files changed, 271 insertions, 61 deletions

diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp
index ed6f3b8020..85f6840fde 100644
--- a/scene/2d/navigation_agent_2d.cpp
+++ b/scene/2d/navigation_agent_2d.cpp
@@ -168,6 +168,17 @@ void NavigationAgent2D::_notification(int p_what) {
 			set_physics_process_internal(false);
 		} break;
 
+		case NOTIFICATION_EXIT_TREE: {
+			set_agent_parent(nullptr);
+			set_physics_process_internal(false);
+
+#ifdef DEBUG_ENABLED
+			if (debug_path_instance.is_valid()) {
+				RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, false);
+			}
+#endif // DEBUG_ENABLED
+		} break;
+
 		case NOTIFICATION_PAUSED: {
 			if (agent_parent && !agent_parent->can_process()) {
 				map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid());
@@ -188,17 +199,6 @@ void NavigationAgent2D::_notification(int p_what) {
 			}
 		} break;
 
-		case NOTIFICATION_EXIT_TREE: {
-			agent_parent = nullptr;
-			set_physics_process_internal(false);
-
-#ifdef DEBUG_ENABLED
-			if (debug_path_instance.is_valid()) {
-				RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, false);
-			}
-#endif // DEBUG_ENABLED
-		} break;
-
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
 			if (agent_parent && target_position_submitted) {
 				if (avoidance_enabled) {
@@ -208,7 +208,6 @@ void NavigationAgent2D::_notification(int p_what) {
 				}
 				_check_distance_to_target();
 			}
-
 #ifdef DEBUG_ENABLED
 			if (debug_path_dirty) {
 				_update_debug_path();
@@ -220,11 +219,11 @@ void NavigationAgent2D::_notification(int p_what) {
 
 NavigationAgent2D::NavigationAgent2D() {
 	agent = NavigationServer2D::get_singleton()->agent_create();
-	set_neighbor_distance(neighbor_distance);
-	set_max_neighbors(max_neighbors);
-	set_time_horizon(time_horizon);
-	set_radius(radius);
-	set_max_speed(max_speed);
+	NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
+	NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
+	NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, time_horizon);
+	NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
+	NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed);
 
 	// Preallocate query and result objects to improve performance.
 	navigation_query = Ref<NavigationPathQueryParameters2D>();
@@ -254,7 +253,12 @@ NavigationAgent2D::~NavigationAgent2D() {
 }
 
 void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) {
+	if (avoidance_enabled == p_enabled) {
+		return;
+	}
+
 	avoidance_enabled = p_enabled;
+
 	if (avoidance_enabled) {
 		NavigationServer2D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done));
 	} else {
@@ -267,6 +271,10 @@ bool NavigationAgent2D::get_avoidance_enabled() const {
 }
 
 void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) {
+	if (agent_parent == p_agent_parent) {
+		return;
+	}
+
 	// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
 	NavigationServer2D::get_singleton()->agent_set_callback(agent, Callable());
 
@@ -280,7 +288,9 @@ void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) {
 		}
 
 		// create new avoidance callback if enabled
-		set_avoidance_enabled(avoidance_enabled);
+		if (avoidance_enabled) {
+			NavigationServer2D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done));
+		}
 	} else {
 		agent_parent = nullptr;
 		NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
@@ -288,11 +298,13 @@ void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) {
 }
 
 void NavigationAgent2D::set_navigation_layers(uint32_t p_navigation_layers) {
-	bool navigation_layers_changed = navigation_layers != p_navigation_layers;
-	navigation_layers = p_navigation_layers;
-	if (navigation_layers_changed) {
-		_request_repath();
+	if (navigation_layers == p_navigation_layers) {
+		return;
 	}
+
+	navigation_layers = p_navigation_layers;
+
+	_request_repath();
 }
 
 uint32_t NavigationAgent2D::get_navigation_layers() const {
@@ -326,7 +338,12 @@ void NavigationAgent2D::set_path_metadata_flags(BitField<NavigationPathQueryPara
 }
 
 void NavigationAgent2D::set_navigation_map(RID p_navigation_map) {
+	if (map_override == p_navigation_map) {
+		return;
+	}
+
 	map_override = p_navigation_map;
+
 	NavigationServer2D::get_singleton()->agent_set_map(agent, map_override);
 	_request_repath();
 }
@@ -340,41 +357,78 @@ RID NavigationAgent2D::get_navigation_map() const {
 	return RID();
 }
 
-void NavigationAgent2D::set_path_desired_distance(real_t p_dd) {
-	path_desired_distance = p_dd;
+void NavigationAgent2D::set_path_desired_distance(real_t p_path_desired_distance) {
+	if (Math::is_equal_approx(path_desired_distance, p_path_desired_distance)) {
+		return;
+	}
+
+	path_desired_distance = p_path_desired_distance;
 }
 
-void NavigationAgent2D::set_target_desired_distance(real_t p_dd) {
-	target_desired_distance = p_dd;
+void NavigationAgent2D::set_target_desired_distance(real_t p_target_desired_distance) {
+	if (Math::is_equal_approx(target_desired_distance, p_target_desired_distance)) {
+		return;
+	}
+
+	target_desired_distance = p_target_desired_distance;
 }
 
 void NavigationAgent2D::set_radius(real_t p_radius) {
+	if (Math::is_equal_approx(radius, p_radius)) {
+		return;
+	}
+
 	radius = p_radius;
+
 	NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
 }
 
 void NavigationAgent2D::set_neighbor_distance(real_t p_distance) {
+	if (Math::is_equal_approx(neighbor_distance, p_distance)) {
+		return;
+	}
+
 	neighbor_distance = p_distance;
+
 	NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
 }
 
 void NavigationAgent2D::set_max_neighbors(int p_count) {
+	if (max_neighbors == p_count) {
+		return;
+	}
+
 	max_neighbors = p_count;
+
 	NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
 }
 
 void NavigationAgent2D::set_time_horizon(real_t p_time) {
+	if (Math::is_equal_approx(time_horizon, p_time)) {
+		return;
+	}
+
 	time_horizon = p_time;
+
 	NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, time_horizon);
 }
 
 void NavigationAgent2D::set_max_speed(real_t p_max_speed) {
+	if (Math::is_equal_approx(max_speed, p_max_speed)) {
+		return;
+	}
+
 	max_speed = p_max_speed;
+
 	NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed);
 }
 
-void NavigationAgent2D::set_path_max_distance(real_t p_pmd) {
-	path_max_distance = p_pmd;
+void NavigationAgent2D::set_path_max_distance(real_t p_path_max_distance) {
+	if (Math::is_equal_approx(path_max_distance, p_path_max_distance)) {
+		return;
+	}
+
+	path_max_distance = p_path_max_distance;
 }
 
 real_t NavigationAgent2D::get_path_max_distance() {
@@ -382,8 +436,13 @@ real_t NavigationAgent2D::get_path_max_distance() {
 }
 
 void NavigationAgent2D::set_target_position(Vector2 p_position) {
+	if (target_position.is_equal_approx(p_position)) {
+		return;
+	}
+
 	target_position = p_position;
 	target_position_submitted = true;
+
 	_request_repath();
 }
 
@@ -432,10 +491,15 @@ Vector2 NavigationAgent2D::get_final_position() {
 }
 
 void NavigationAgent2D::set_velocity(Vector2 p_velocity) {
+	if (target_velocity.is_equal_approx(p_velocity)) {
+		return;
+	}
+
 	target_velocity = p_velocity;
+	velocity_submitted = true;
+
 	NavigationServer2D::get_singleton()->agent_set_target_velocity(agent, target_velocity);
 	NavigationServer2D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
-	velocity_submitted = true;
 }
 
 void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) {
@@ -608,6 +672,10 @@ void NavigationAgent2D::_check_distance_to_target() {
 
 #ifdef DEBUG_ENABLED
 void NavigationAgent2D::set_debug_enabled(bool p_enabled) {
+	if (debug_enabled == p_enabled) {
+		return;
+	}
+
 	debug_enabled = p_enabled;
 	debug_path_dirty = true;
 }
@@ -617,6 +685,10 @@ bool NavigationAgent2D::get_debug_enabled() const {
 }
 
 void NavigationAgent2D::set_debug_use_custom(bool p_enabled) {
+	if (debug_use_custom == p_enabled) {
+		return;
+	}
+
 	debug_use_custom = p_enabled;
 	debug_path_dirty = true;
 }
@@ -626,6 +698,10 @@ bool NavigationAgent2D::get_debug_use_custom() const {
 }
 
 void NavigationAgent2D::set_debug_path_custom_color(Color p_color) {
+	if (debug_path_custom_color == p_color) {
+		return;
+	}
+
 	debug_path_custom_color = p_color;
 	debug_path_dirty = true;
 }
@@ -635,6 +711,10 @@ Color NavigationAgent2D::get_debug_path_custom_color() const {
 }
 
 void NavigationAgent2D::set_debug_path_custom_point_size(float p_point_size) {
+	if (Math::is_equal_approx(debug_path_custom_point_size, p_point_size)) {
+		return;
+	}
+
 	debug_path_custom_point_size = MAX(0.1, p_point_size);
 	debug_path_dirty = true;
 }
@@ -644,6 +724,10 @@ float NavigationAgent2D::get_debug_path_custom_point_size() const {
 }
 
 void NavigationAgent2D::set_debug_path_custom_line_width(float p_line_width) {
+	if (Math::is_equal_approx(debug_path_custom_line_width, p_line_width)) {
+		return;
+	}
+
 	debug_path_custom_line_width = p_line_width;
 	debug_path_dirty = true;
 }
diff --git a/scene/2d/navigation_agent_2d.h b/scene/2d/navigation_agent_2d.h
index 8f4a373327..5278c81f66 100644
--- a/scene/2d/navigation_agent_2d.h
+++ b/scene/2d/navigation_agent_2d.h
@@ -57,7 +57,6 @@ class NavigationAgent2D : public Node {
 	int max_neighbors = 10;
 	real_t time_horizon = 1.0;
 	real_t max_speed = 100.0;
-
 	real_t path_max_distance = 100.0;
 
 	Vector2 target_position;
diff --git a/scene/2d/navigation_obstacle_2d.cpp b/scene/2d/navigation_obstacle_2d.cpp
index 4bd170301a..d7ef77e25b 100644
--- a/scene/2d/navigation_obstacle_2d.cpp
+++ b/scene/2d/navigation_obstacle_2d.cpp
@@ -185,6 +185,10 @@ real_t NavigationObstacle2D::estimate_agent_radius() const {
 }
 
 void NavigationObstacle2D::set_agent_parent(Node *p_agent_parent) {
+	if (parent_node2d == p_agent_parent) {
+		return;
+	}
+
 	if (Object::cast_to<Node2D>(p_agent_parent) != nullptr) {
 		parent_node2d = Object::cast_to<Node2D>(p_agent_parent);
 		if (map_override.is_valid()) {
@@ -200,7 +204,12 @@ void NavigationObstacle2D::set_agent_parent(Node *p_agent_parent) {
 }
 
 void NavigationObstacle2D::set_navigation_map(RID p_navigation_map) {
+	if (map_override == p_navigation_map) {
+		return;
+	}
+
 	map_override = p_navigation_map;
+
 	NavigationServer2D::get_singleton()->agent_set_map(agent, map_override);
 }
 
@@ -214,13 +223,23 @@ RID NavigationObstacle2D::get_navigation_map() const {
 }
 
 void NavigationObstacle2D::set_estimate_radius(bool p_estimate_radius) {
+	if (estimate_radius == p_estimate_radius) {
+		return;
+	}
+
 	estimate_radius = p_estimate_radius;
+
 	notify_property_list_changed();
 	reevaluate_agent_radius();
 }
 
 void NavigationObstacle2D::set_radius(real_t p_radius) {
 	ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
+	if (Math::is_equal_approx(radius, p_radius)) {
+		return;
+	}
+
 	radius = p_radius;
+
 	reevaluate_agent_radius();
 }
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 1ffabbb6da..524304425c 100644
--- a/scene/3d/navigation_agent_3d.cpp
+++ b/scene/3d/navigation_agent_3d.cpp
@@ -207,7 +207,7 @@ void NavigationAgent3D::_notification(int p_what) {
 				if (avoidance_enabled) {
 					// agent_position on NavigationServer is avoidance only and has nothing to do with pathfinding
 					// no point in flooding NavigationServer queue with agent position updates that get send to the void if avoidance is not used
-					NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
+					NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
 				}
 				_check_distance_to_target();
 			}
@@ -222,12 +222,12 @@ void NavigationAgent3D::_notification(int p_what) {
 
 NavigationAgent3D::NavigationAgent3D() {
 	agent = NavigationServer3D::get_singleton()->agent_create();
-	set_neighbor_distance(50.0);
-	set_max_neighbors(10);
-	set_time_horizon(5.0);
-	set_radius(1.0);
-	set_max_speed(10.0);
-	set_ignore_y(true);
+	NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
+	NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
+	NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, time_horizon);
+	NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
+	NavigationServer3D::get_singleton()->agent_set_max_speed(agent, max_speed);
+	NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y);
 
 	// Preallocate query and result objects to improve performance.
 	navigation_query = Ref<NavigationPathQueryParameters3D>();
@@ -260,7 +260,12 @@ NavigationAgent3D::~NavigationAgent3D() {
 }
 
 void NavigationAgent3D::set_avoidance_enabled(bool p_enabled) {
+	if (avoidance_enabled == p_enabled) {
+		return;
+	}
+
 	avoidance_enabled = p_enabled;
+
 	if (avoidance_enabled) {
 		NavigationServer3D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent3D::_avoidance_done));
 	} else {
@@ -273,6 +278,10 @@ bool NavigationAgent3D::get_avoidance_enabled() const {
 }
 
 void NavigationAgent3D::set_agent_parent(Node *p_agent_parent) {
+	if (agent_parent == p_agent_parent) {
+		return;
+	}
+
 	// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
 	NavigationServer3D::get_singleton()->agent_set_callback(agent, Callable());
 
@@ -286,7 +295,9 @@ void NavigationAgent3D::set_agent_parent(Node *p_agent_parent) {
 		}
 
 		// create new avoidance callback if enabled
-		set_avoidance_enabled(avoidance_enabled);
+		if (avoidance_enabled) {
+			NavigationServer3D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent3D::_avoidance_done));
+		}
 	} else {
 		agent_parent = nullptr;
 		NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
@@ -294,11 +305,13 @@ void NavigationAgent3D::set_agent_parent(Node *p_agent_parent) {
 }
 
 void NavigationAgent3D::set_navigation_layers(uint32_t p_navigation_layers) {
-	bool navigation_layers_changed = navigation_layers != p_navigation_layers;
-	navigation_layers = p_navigation_layers;
-	if (navigation_layers_changed) {
-		_request_repath();
+	if (navigation_layers == p_navigation_layers) {
+		return;
 	}
+
+	navigation_layers = p_navigation_layers;
+
+	_request_repath();
 }
 
 uint32_t NavigationAgent3D::get_navigation_layers() const {
@@ -332,7 +345,12 @@ void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryPara
 }
 
 void NavigationAgent3D::set_navigation_map(RID p_navigation_map) {
+	if (map_override == p_navigation_map) {
+		return;
+	}
+
 	map_override = p_navigation_map;
+
 	NavigationServer3D::get_singleton()->agent_set_map(agent, map_override);
 	_request_repath();
 }
@@ -346,50 +364,96 @@ RID NavigationAgent3D::get_navigation_map() const {
 	return RID();
 }
 
-void NavigationAgent3D::set_path_desired_distance(real_t p_dd) {
-	path_desired_distance = p_dd;
+void NavigationAgent3D::set_path_desired_distance(real_t p_path_desired_distance) {
+	if (Math::is_equal_approx(path_desired_distance, p_path_desired_distance)) {
+		return;
+	}
+
+	path_desired_distance = p_path_desired_distance;
 }
 
-void NavigationAgent3D::set_target_desired_distance(real_t p_dd) {
-	target_desired_distance = p_dd;
+void NavigationAgent3D::set_target_desired_distance(real_t p_target_desired_distance) {
+	if (Math::is_equal_approx(target_desired_distance, p_target_desired_distance)) {
+		return;
+	}
+
+	target_desired_distance = p_target_desired_distance;
 }
 
 void NavigationAgent3D::set_radius(real_t p_radius) {
+	if (Math::is_equal_approx(radius, p_radius)) {
+		return;
+	}
+
 	radius = p_radius;
+
 	NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
 }
 
-void NavigationAgent3D::set_agent_height_offset(real_t p_hh) {
-	navigation_height_offset = p_hh;
+void NavigationAgent3D::set_agent_height_offset(real_t p_agent_height_offset) {
+	if (Math::is_equal_approx(navigation_height_offset, p_agent_height_offset)) {
+		return;
+	}
+
+	navigation_height_offset = p_agent_height_offset;
 }
 
 void NavigationAgent3D::set_ignore_y(bool p_ignore_y) {
+	if (ignore_y == p_ignore_y) {
+		return;
+	}
+
 	ignore_y = p_ignore_y;
+
 	NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y);
 }
 
 void NavigationAgent3D::set_neighbor_distance(real_t p_distance) {
+	if (Math::is_equal_approx(neighbor_distance, p_distance)) {
+		return;
+	}
+
 	neighbor_distance = p_distance;
+
 	NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
 }
 
 void NavigationAgent3D::set_max_neighbors(int p_count) {
+	if (max_neighbors == p_count) {
+		return;
+	}
+
 	max_neighbors = p_count;
+
 	NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
 }
 
 void NavigationAgent3D::set_time_horizon(real_t p_time) {
+	if (Math::is_equal_approx(time_horizon, p_time)) {
+		return;
+	}
+
 	time_horizon = p_time;
+
 	NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, time_horizon);
 }
 
 void NavigationAgent3D::set_max_speed(real_t p_max_speed) {
+	if (Math::is_equal_approx(max_speed, p_max_speed)) {
+		return;
+	}
+
 	max_speed = p_max_speed;
+
 	NavigationServer3D::get_singleton()->agent_set_max_speed(agent, max_speed);
 }
 
-void NavigationAgent3D::set_path_max_distance(real_t p_pmd) {
-	path_max_distance = p_pmd;
+void NavigationAgent3D::set_path_max_distance(real_t p_path_max_distance) {
+	if (Math::is_equal_approx(path_max_distance, p_path_max_distance)) {
+		return;
+	}
+
+	path_max_distance = p_path_max_distance;
 }
 
 real_t NavigationAgent3D::get_path_max_distance() {
@@ -397,8 +461,13 @@ real_t NavigationAgent3D::get_path_max_distance() {
 }
 
 void NavigationAgent3D::set_target_position(Vector3 p_position) {
+	if (target_position.is_equal_approx(p_position)) {
+		return;
+	}
+
 	target_position = p_position;
 	target_position_submitted = true;
+
 	_request_repath();
 }
 
@@ -412,7 +481,7 @@ Vector3 NavigationAgent3D::get_next_path_position() {
 	const Vector<Vector3> &navigation_path = navigation_result->get_path();
 	if (navigation_path.size() == 0) {
 		ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent.");
-		return agent_parent->get_global_transform().origin;
+		return agent_parent->get_global_position();
 	} else {
 		return navigation_path[navigation_path_index] - Vector3(0, navigation_height_offset, 0);
 	}
@@ -420,7 +489,7 @@ Vector3 NavigationAgent3D::get_next_path_position() {
 
 real_t NavigationAgent3D::distance_to_target() const {
 	ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent.");
-	return agent_parent->get_global_transform().origin.distance_to(target_position);
+	return agent_parent->get_global_position().distance_to(target_position);
 }
 
 bool NavigationAgent3D::is_target_reached() const {
@@ -447,10 +516,15 @@ Vector3 NavigationAgent3D::get_final_position() {
 }
 
 void NavigationAgent3D::set_velocity(Vector3 p_velocity) {
+	if (target_velocity.is_equal_approx(p_velocity)) {
+		return;
+	}
+
 	target_velocity = p_velocity;
+	velocity_submitted = true;
+
 	NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, target_velocity);
 	NavigationServer3D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
-	velocity_submitted = true;
 }
 
 void NavigationAgent3D::_avoidance_done(Vector3 p_new_velocity) {
@@ -491,7 +565,7 @@ void NavigationAgent3D::update_navigation() {
 
 	update_frame_id = Engine::get_singleton()->get_physics_frames();
 
-	Vector3 origin = agent_parent->get_global_transform().origin;
+	Vector3 origin = agent_parent->get_global_position();
 
 	bool reload_path = false;
 
@@ -624,6 +698,10 @@ void NavigationAgent3D::_check_distance_to_target() {
 
 #ifdef DEBUG_ENABLED
 void NavigationAgent3D::set_debug_enabled(bool p_enabled) {
+	if (debug_enabled == p_enabled) {
+		return;
+	}
+
 	debug_enabled = p_enabled;
 	debug_path_dirty = true;
 }
@@ -633,6 +711,10 @@ bool NavigationAgent3D::get_debug_enabled() const {
 }
 
 void NavigationAgent3D::set_debug_use_custom(bool p_enabled) {
+	if (debug_use_custom == p_enabled) {
+		return;
+	}
+
 	debug_use_custom = p_enabled;
 	debug_path_dirty = true;
 }
@@ -642,6 +724,10 @@ bool NavigationAgent3D::get_debug_use_custom() const {
 }
 
 void NavigationAgent3D::set_debug_path_custom_color(Color p_color) {
+	if (debug_path_custom_color == p_color) {
+		return;
+	}
+
 	debug_path_custom_color = p_color;
 	debug_path_dirty = true;
 }
@@ -651,6 +737,10 @@ Color NavigationAgent3D::get_debug_path_custom_color() const {
 }
 
 void NavigationAgent3D::set_debug_path_custom_point_size(float p_point_size) {
+	if (Math::is_equal_approx(debug_path_custom_point_size, p_point_size)) {
+		return;
+	}
+
 	debug_path_custom_point_size = p_point_size;
 	debug_path_dirty = true;
 }
diff --git a/scene/3d/navigation_agent_3d.h b/scene/3d/navigation_agent_3d.h
index 98bf395d7c..209b2a0989 100644
--- a/scene/3d/navigation_agent_3d.h
+++ b/scene/3d/navigation_agent_3d.h
@@ -52,14 +52,13 @@ class NavigationAgent3D : public Node {
 
 	real_t path_desired_distance = 1.0;
 	real_t target_desired_distance = 1.0;
-	real_t radius = 0.0;
+	real_t radius = 1.0;
 	real_t navigation_height_offset = 0.0;
-	bool ignore_y = false;
-	real_t neighbor_distance = 0.0;
-	int max_neighbors = 0;
-	real_t time_horizon = 0.0;
-	real_t max_speed = 0.0;
-
+	bool ignore_y = true;
+	real_t neighbor_distance = 50.0;
+	int max_neighbors = 10;
+	real_t time_horizon = 5.0;
+	real_t max_speed = 10.0;
 	real_t path_max_distance = 3.0;
 
 	Vector3 target_position;
diff --git a/scene/3d/navigation_obstacle_3d.cpp b/scene/3d/navigation_obstacle_3d.cpp
index c706f55566..85b3c164cc 100644
--- a/scene/3d/navigation_obstacle_3d.cpp
+++ b/scene/3d/navigation_obstacle_3d.cpp
@@ -192,6 +192,10 @@ real_t NavigationObstacle3D::estimate_agent_radius() const {
 }
 
 void NavigationObstacle3D::set_agent_parent(Node *p_agent_parent) {
+	if (parent_node3d == p_agent_parent) {
+		return;
+	}
+
 	if (Object::cast_to<Node3D>(p_agent_parent) != nullptr) {
 		parent_node3d = Object::cast_to<Node3D>(p_agent_parent);
 		if (map_override.is_valid()) {
@@ -207,7 +211,12 @@ void NavigationObstacle3D::set_agent_parent(Node *p_agent_parent) {
 }
 
 void NavigationObstacle3D::set_navigation_map(RID p_navigation_map) {
+	if (map_override == p_navigation_map) {
+		return;
+	}
+
 	map_override = p_navigation_map;
+
 	NavigationServer3D::get_singleton()->agent_set_map(agent, map_override);
 }
 
@@ -221,13 +230,23 @@ RID NavigationObstacle3D::get_navigation_map() const {
 }
 
 void NavigationObstacle3D::set_estimate_radius(bool p_estimate_radius) {
+	if (estimate_radius == p_estimate_radius) {
+		return;
+	}
+
 	estimate_radius = p_estimate_radius;
+
 	notify_property_list_changed();
 	reevaluate_agent_radius();
 }
 
 void NavigationObstacle3D::set_radius(real_t p_radius) {
 	ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
+	if (Math::is_equal_approx(radius, p_radius)) {
+		return;
+	}
+
 	radius = p_radius;
+
 	reevaluate_agent_radius();
 }