Add NavigationPathQuery

Adds NavigationPathQueryParameters objects that can be used with NavigationServer.query_path() to query a customized navigation path.

24 files changed, 907 insertions, 0 deletions

diff --git a/doc/classes/NavigationPathQueryParameters2D.xml b/doc/classes/NavigationPathQueryParameters2D.xml
new file mode 100644
index 0000000000..70455017c4
--- /dev/null
+++ b/doc/classes/NavigationPathQueryParameters2D.xml
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="NavigationPathQueryParameters2D" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+		Parameters to be sent to a 2D navigation path query.
+	</brief_description>
+	<description>
+		This class contains the start and target position and other parameters to be used with [method NavigationServer2D.query_path].
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="map" type="RID" setter="set_map" getter="get_map">
+			The navigation [code]map[/code] [RID] used in the path query.
+		</member>
+		<member name="navigation_layers" type="int" setter="set_navigation_layers" getter="get_navigation_layers" default="1">
+			The navigation layers the query will use (as a bitmask).
+		</member>
+		<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters2D.PathPostProcessing" default="0">
+		</member>
+		<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters2D.PathfindingAlgorithm" default="0">
+			The pathfinding algorithm used in the path query.
+		</member>
+		<member name="start_position" type="Vector2" setter="set_start_position" getter="get_start_position" default="Vector2(0, 0)">
+			The pathfinding start position in global coordinates.
+		</member>
+		<member name="target_position" type="Vector2" setter="set_target_position" getter="get_target_position" default="Vector2(0, 0)">
+			The pathfinding target position in global coordinates.
+		</member>
+	</members>
+	<constants>
+		<constant name="PATHFINDING_ALGORITHM_ASTAR" value="0" enum="PathfindingAlgorithm">
+			The path query uses the default A* pathfinding algorithm.
+		</constant>
+		<constant name="PATH_POSTPROCESSING_CORRIDORFUNNEL" value="0" enum="PathPostProcessing">
+			Applies a funnel algorithm to the raw path corridor found by the pathfinding algorithm. This will result in the shortest path possible inside the path corridor. This postprocessing very much depends on the navmesh polygon layout and the created corridor. Especially tile- or gridbased layouts can face artifical corners with diagonal movement due to a jagged path corridor imposed by the cell shapes.
+		</constant>
+		<constant name="PATH_POSTPROCESSING_EDGECENTERED" value="1" enum="PathPostProcessing">
+			Centers every path position in the middle of the traveled navmesh polygon edge. This creates better paths for tile- or gridbased layouts that restrict the movement to the cells center.
+		</constant>
+	</constants>
+</class>
diff --git a/doc/classes/NavigationPathQueryParameters3D.xml b/doc/classes/NavigationPathQueryParameters3D.xml
new file mode 100644
index 0000000000..4dd54601f5
--- /dev/null
+++ b/doc/classes/NavigationPathQueryParameters3D.xml
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="NavigationPathQueryParameters3D" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+		Parameters to be sent to a 3D navigation path query.
+	</brief_description>
+	<description>
+		This class contains the start and target position and other parameters to be used with [method NavigationServer3D.query_path].
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="map" type="RID" setter="set_map" getter="get_map">
+			The navigation [code]map[/code] [RID] used in the path query.
+		</member>
+		<member name="navigation_layers" type="int" setter="set_navigation_layers" getter="get_navigation_layers" default="1">
+			The navigation layers the query will use (as a bitmask).
+		</member>
+		<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters3D.PathPostProcessing" default="0">
+		</member>
+		<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters3D.PathfindingAlgorithm" default="0">
+			The pathfinding algorithm used in the path query.
+		</member>
+		<member name="start_position" type="Vector3" setter="set_start_position" getter="get_start_position" default="Vector3(0, 0, 0)">
+			The pathfinding start position in global coordinates.
+		</member>
+		<member name="target_position" type="Vector3" setter="set_target_position" getter="get_target_position" default="Vector3(0, 0, 0)">
+			The pathfinding target position in global coordinates.
+		</member>
+	</members>
+	<constants>
+		<constant name="PATHFINDING_ALGORITHM_ASTAR" value="0" enum="PathfindingAlgorithm">
+			The path query uses the default A* pathfinding algorithm.
+		</constant>
+		<constant name="PATH_POSTPROCESSING_CORRIDORFUNNEL" value="0" enum="PathPostProcessing">
+			Applies a funnel algorithm to the raw path corridor found by the pathfinding algorithm. This will result in the shortest path possible inside the path corridor. This postprocessing very much depends on the navmesh polygon layout and the created corridor. Especially tile- or gridbased layouts can face artifical corners with diagonal movement due to a jagged path corridor imposed by the cell shapes.
+		</constant>
+		<constant name="PATH_POSTPROCESSING_EDGECENTERED" value="1" enum="PathPostProcessing">
+			Centers every path position in the middle of the traveled navmesh polygon edge. This creates better paths for tile- or gridbased layouts that restrict the movement to the cells center.
+		</constant>
+	</constants>
+</class>
diff --git a/doc/classes/NavigationPathQueryResult2D.xml b/doc/classes/NavigationPathQueryResult2D.xml
new file mode 100644
index 0000000000..a9b12d3b94
--- /dev/null
+++ b/doc/classes/NavigationPathQueryResult2D.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="NavigationPathQueryResult2D" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+		Result from a [NavigationPathQueryParameters2D] navigation path query.
+	</brief_description>
+	<description>
+		This class contains the result of a navigation path query from [method NavigationServer2D.query_path].
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="path" type="PackedVector2Array" setter="set_path" getter="get_path" default="PackedVector2Array()">
+			The resulting path array from the navigation query. All path array positions are in global coordinates. Without customized query parameters this is the same path as returned by [method NavigationServer2D.map_get_path].
+		</member>
+	</members>
+</class>
diff --git a/doc/classes/NavigationPathQueryResult3D.xml b/doc/classes/NavigationPathQueryResult3D.xml
new file mode 100644
index 0000000000..d8336111fc
--- /dev/null
+++ b/doc/classes/NavigationPathQueryResult3D.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="NavigationPathQueryResult3D" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+		Result from a [NavigationPathQueryParameters3D] navigation path query.
+	</brief_description>
+	<description>
+		This class contains the result of a navigation path query from [method NavigationServer3D.query_path].
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="path" type="PackedVector3Array" setter="set_path" getter="get_path" default="PackedVector3Array()">
+			The resulting path array from the navigation query. All path array positions are in global coordinates. Without customized query parameters this is the same path as returned by [method NavigationServer3D.map_get_path].
+		</member>
+	</members>
+</class>
diff --git a/doc/classes/NavigationServer2D.xml b/doc/classes/NavigationServer2D.xml
index 0874e183e4..981ab8a5e1 100644
--- a/doc/classes/NavigationServer2D.xml
+++ b/doc/classes/NavigationServer2D.xml
@@ -368,6 +368,14 @@
 				Set the map's link connection radius used to connect links to navigation polygons.
 			</description>
 		</method>
+		<method name="query_path" qualifiers="const">
+			<return type="void" />
+			<param index="0" name="parameters" type="NavigationPathQueryParameters2D" />
+			<param index="1" name="result" type="NavigationPathQueryResult2D" />
+			<description>
+				Queries a path in a given navigation map. Start and target position and other parameters are defined through [NavigationPathQueryParameters2D]. Updates the provided [NavigationPathQueryResult2D] result object with the path among other results requested by the query.
+			</description>
+		</method>
 		<method name="region_create" qualifiers="const">
 			<return type="RID" />
 			<description>
diff --git a/doc/classes/NavigationServer3D.xml b/doc/classes/NavigationServer3D.xml
index 255f2a902c..943aa03ef7 100644
--- a/doc/classes/NavigationServer3D.xml
+++ b/doc/classes/NavigationServer3D.xml
@@ -410,6 +410,14 @@
 				[b]Note:[/b] This function is not thread safe.
 			</description>
 		</method>
+		<method name="query_path" qualifiers="const">
+			<return type="void" />
+			<param index="0" name="parameters" type="NavigationPathQueryParameters3D" />
+			<param index="1" name="result" type="NavigationPathQueryResult3D" />
+			<description>
+				Queries a path in a given navigation map. Start and target position and other parameters are defined through [NavigationPathQueryParameters3D]. Updates the provided [NavigationPathQueryResult3D] result object with the path among other results requested by the query.
+			</description>
+		</method>
 		<method name="region_bake_navmesh" qualifiers="const">
 			<return type="void" />
 			<param index="0" name="mesh" type="NavigationMesh" />
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
index 9e5d666a51..8ca73a3adb 100644
--- a/modules/navigation/godot_navigation_server.cpp
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -810,6 +810,32 @@ void GodotNavigationServer::process(real_t p_delta_time) {
 	}
 }
 
+NavigationUtilities::PathQueryResult GodotNavigationServer::_query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const {
+	NavigationUtilities::PathQueryResult r_query_result;
+
+	const NavMap *map = map_owner.get_or_null(p_parameters.map);
+	ERR_FAIL_COND_V(map == nullptr, r_query_result);
+
+	// run the pathfinding
+
+	if (p_parameters.pathfinding_algorithm == NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) {
+		// while postprocessing is still part of map.get_path() need to check and route it here for the correct "optimize" post-processing
+		if (p_parameters.path_postprocessing == NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) {
+			r_query_result.path = map->get_path(p_parameters.start_position, p_parameters.target_position, true, p_parameters.navigation_layers);
+		} else if (p_parameters.path_postprocessing == NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) {
+			r_query_result.path = map->get_path(p_parameters.start_position, p_parameters.target_position, false, p_parameters.navigation_layers);
+		}
+	} else {
+		return r_query_result;
+	}
+
+	// add path postprocessing
+
+	// add path stats
+
+	return r_query_result;
+}
+
 #undef COMMAND_1
 #undef COMMAND_2
 #undef COMMAND_4
diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h
index e6ef7e3bb1..ab5e722d35 100644
--- a/modules/navigation/godot_navigation_server.h
+++ b/modules/navigation/godot_navigation_server.h
@@ -175,6 +175,8 @@ public:
 
 	void flush_queries();
 	virtual void process(real_t p_delta_time) override;
+
+	virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const override;
 };
 
 #undef COMMAND_1
diff --git a/servers/SCsub b/servers/SCsub
index 2ce90e970b..788a368a4f 100644
--- a/servers/SCsub
+++ b/servers/SCsub
@@ -15,6 +15,7 @@ SConscript("text/SCsub")
 SConscript("debugger/SCsub")
 SConscript("extensions/SCsub")
 SConscript("movie_writer/SCsub")
+SConscript("navigation/SCsub")
 
 lib = env.add_library("servers", env.servers_sources)
 
diff --git a/servers/navigation/SCsub b/servers/navigation/SCsub
new file mode 100644
index 0000000000..86681f9c74
--- /dev/null
+++ b/servers/navigation/SCsub
@@ -0,0 +1,5 @@
+#!/usr/bin/env python
+
+Import("env")
+
+env.add_source_files(env.servers_sources, "*.cpp")
diff --git a/servers/navigation/navigation_path_query_parameters_2d.cpp b/servers/navigation/navigation_path_query_parameters_2d.cpp
new file mode 100644
index 0000000000..574af90be1
--- /dev/null
+++ b/servers/navigation/navigation_path_query_parameters_2d.cpp
@@ -0,0 +1,144 @@
+/*************************************************************************/
+/*  navigation_path_query_parameters_2d.cpp                              */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#include "navigation_path_query_parameters_2d.h"
+
+void NavigationPathQueryParameters2D::set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm) {
+	switch (p_pathfinding_algorithm) {
+		case PATHFINDING_ALGORITHM_ASTAR: {
+			parameters.pathfinding_algorithm = NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+		} break;
+		default: {
+			WARN_PRINT_ONCE("No match for used PathfindingAlgorithm - fallback to default");
+			parameters.pathfinding_algorithm = NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+		} break;
+	}
+}
+
+NavigationPathQueryParameters2D::PathfindingAlgorithm NavigationPathQueryParameters2D::get_pathfinding_algorithm() const {
+	switch (parameters.pathfinding_algorithm) {
+		case NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR:
+			return PATHFINDING_ALGORITHM_ASTAR;
+		default:
+			WARN_PRINT_ONCE("No match for used PathfindingAlgorithm - fallback to default");
+			return PATHFINDING_ALGORITHM_ASTAR;
+	}
+}
+
+void NavigationPathQueryParameters2D::set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing) {
+	switch (p_path_postprocessing) {
+		case PATH_POSTPROCESSING_CORRIDORFUNNEL: {
+			parameters.path_postprocessing = NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
+		} break;
+		case PATH_POSTPROCESSING_EDGECENTERED: {
+			parameters.path_postprocessing = NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED;
+		} break;
+		default: {
+			WARN_PRINT_ONCE("No match for used PathPostProcessing - fallback to default");
+			parameters.path_postprocessing = NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
+		} break;
+	}
+}
+
+NavigationPathQueryParameters2D::PathPostProcessing NavigationPathQueryParameters2D::get_path_postprocessing() const {
+	switch (parameters.path_postprocessing) {
+		case NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL:
+			return PATH_POSTPROCESSING_CORRIDORFUNNEL;
+		case NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED:
+			return PATH_POSTPROCESSING_EDGECENTERED;
+		default:
+			WARN_PRINT_ONCE("No match for used PathPostProcessing - fallback to default");
+			return PATH_POSTPROCESSING_CORRIDORFUNNEL;
+	}
+}
+
+void NavigationPathQueryParameters2D::set_map(const RID &p_map) {
+	parameters.map = p_map;
+}
+
+const RID &NavigationPathQueryParameters2D::get_map() const {
+	return parameters.map;
+}
+
+void NavigationPathQueryParameters2D::set_start_position(const Vector2 p_start_position) {
+	parameters.start_position = Vector3(p_start_position.x, 0.0, p_start_position.y);
+}
+
+Vector2 NavigationPathQueryParameters2D::get_start_position() const {
+	return Vector2(parameters.start_position.x, parameters.start_position.z);
+}
+
+void NavigationPathQueryParameters2D::set_target_position(const Vector2 p_target_position) {
+	parameters.target_position = Vector3(p_target_position.x, 0.0, p_target_position.y);
+}
+
+Vector2 NavigationPathQueryParameters2D::get_target_position() const {
+	return Vector2(parameters.target_position.x, parameters.target_position.z);
+}
+
+void NavigationPathQueryParameters2D::set_navigation_layers(uint32_t p_navigation_layers) {
+	parameters.navigation_layers = p_navigation_layers;
+};
+
+uint32_t NavigationPathQueryParameters2D::get_navigation_layers() const {
+	return parameters.navigation_layers;
+};
+
+void NavigationPathQueryParameters2D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationPathQueryParameters2D::set_pathfinding_algorithm);
+	ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationPathQueryParameters2D::get_pathfinding_algorithm);
+
+	ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationPathQueryParameters2D::set_path_postprocessing);
+	ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationPathQueryParameters2D::get_path_postprocessing);
+
+	ClassDB::bind_method(D_METHOD("set_map", "map"), &NavigationPathQueryParameters2D::set_map);
+	ClassDB::bind_method(D_METHOD("get_map"), &NavigationPathQueryParameters2D::get_map);
+
+	ClassDB::bind_method(D_METHOD("set_start_position", "start_position"), &NavigationPathQueryParameters2D::set_start_position);
+	ClassDB::bind_method(D_METHOD("get_start_position"), &NavigationPathQueryParameters2D::get_start_position);
+
+	ClassDB::bind_method(D_METHOD("set_target_position", "target_position"), &NavigationPathQueryParameters2D::set_target_position);
+	ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationPathQueryParameters2D::get_target_position);
+
+	ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationPathQueryParameters2D::set_navigation_layers);
+	ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationPathQueryParameters2D::get_navigation_layers);
+
+	ADD_PROPERTY(PropertyInfo(Variant::RID, "map"), "set_map", "get_map");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "start_position"), "set_start_position", "get_start_position");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "target_position"), "set_target_position", "get_target_position");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
+
+	BIND_ENUM_CONSTANT(PATHFINDING_ALGORITHM_ASTAR);
+
+	BIND_ENUM_CONSTANT(PATH_POSTPROCESSING_CORRIDORFUNNEL);
+	BIND_ENUM_CONSTANT(PATH_POSTPROCESSING_EDGECENTERED);
+}
diff --git a/servers/navigation/navigation_path_query_parameters_2d.h b/servers/navigation/navigation_path_query_parameters_2d.h
new file mode 100644
index 0000000000..c0ef337a27
--- /dev/null
+++ b/servers/navigation/navigation_path_query_parameters_2d.h
@@ -0,0 +1,79 @@
+/*************************************************************************/
+/*  navigation_path_query_parameters_2d.h                                */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#ifndef NAVIGATION_PATH_QUERY_PARAMETERS_2D_H
+#define NAVIGATION_PATH_QUERY_PARAMETERS_2D_H
+
+#include "core/object/ref_counted.h"
+#include "servers/navigation/navigation_utilities.h"
+
+class NavigationPathQueryParameters2D : public RefCounted {
+	GDCLASS(NavigationPathQueryParameters2D, RefCounted);
+
+	NavigationUtilities::PathQueryParameters parameters;
+
+protected:
+	static void _bind_methods();
+
+public:
+	enum PathfindingAlgorithm {
+		PATHFINDING_ALGORITHM_ASTAR = 0,
+	};
+
+	enum PathPostProcessing {
+		PATH_POSTPROCESSING_CORRIDORFUNNEL = 0,
+		PATH_POSTPROCESSING_EDGECENTERED,
+	};
+
+	const NavigationUtilities::PathQueryParameters &get_parameters() const { return parameters; }
+
+	void set_pathfinding_algorithm(const PathfindingAlgorithm p_pathfinding_algorithm);
+	PathfindingAlgorithm get_pathfinding_algorithm() const;
+
+	void set_path_postprocessing(const PathPostProcessing p_path_postprocessing);
+	PathPostProcessing get_path_postprocessing() const;
+
+	void set_map(const RID &p_map);
+	const RID &get_map() const;
+
+	void set_start_position(const Vector2 p_start_position);
+	Vector2 get_start_position() const;
+
+	void set_target_position(const Vector2 p_target_position);
+	Vector2 get_target_position() const;
+
+	void set_navigation_layers(uint32_t p_navigation_layers);
+	uint32_t get_navigation_layers() const;
+};
+
+VARIANT_ENUM_CAST(NavigationPathQueryParameters2D::PathfindingAlgorithm);
+VARIANT_ENUM_CAST(NavigationPathQueryParameters2D::PathPostProcessing);
+
+#endif // NAVIGATION_PATH_QUERY_PARAMETERS_2D_H
diff --git a/servers/navigation/navigation_path_query_parameters_3d.cpp b/servers/navigation/navigation_path_query_parameters_3d.cpp
new file mode 100644
index 0000000000..b09448e82e
--- /dev/null
+++ b/servers/navigation/navigation_path_query_parameters_3d.cpp
@@ -0,0 +1,144 @@
+/*************************************************************************/
+/*  navigation_path_query_parameters_3d.cpp                              */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#include "navigation_path_query_parameters_3d.h"
+
+void NavigationPathQueryParameters3D::set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm) {
+	switch (p_pathfinding_algorithm) {
+		case PATHFINDING_ALGORITHM_ASTAR: {
+			parameters.pathfinding_algorithm = NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+		} break;
+		default: {
+			WARN_PRINT_ONCE("No match for used PathfindingAlgorithm - fallback to default");
+			parameters.pathfinding_algorithm = NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+		} break;
+	}
+}
+
+NavigationPathQueryParameters3D::PathfindingAlgorithm NavigationPathQueryParameters3D::get_pathfinding_algorithm() const {
+	switch (parameters.pathfinding_algorithm) {
+		case NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR:
+			return PATHFINDING_ALGORITHM_ASTAR;
+		default:
+			WARN_PRINT_ONCE("No match for used PathfindingAlgorithm - fallback to default");
+			return PATHFINDING_ALGORITHM_ASTAR;
+	}
+}
+
+void NavigationPathQueryParameters3D::set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing) {
+	switch (p_path_postprocessing) {
+		case PATH_POSTPROCESSING_CORRIDORFUNNEL: {
+			parameters.path_postprocessing = NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
+		} break;
+		case PATH_POSTPROCESSING_EDGECENTERED: {
+			parameters.path_postprocessing = NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED;
+		} break;
+		default: {
+			WARN_PRINT_ONCE("No match for used PathPostProcessing - fallback to default");
+			parameters.path_postprocessing = NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
+		} break;
+	}
+}
+
+NavigationPathQueryParameters3D::PathPostProcessing NavigationPathQueryParameters3D::get_path_postprocessing() const {
+	switch (parameters.path_postprocessing) {
+		case NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL:
+			return PATH_POSTPROCESSING_CORRIDORFUNNEL;
+		case NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED:
+			return PATH_POSTPROCESSING_EDGECENTERED;
+		default:
+			WARN_PRINT_ONCE("No match for used PathPostProcessing - fallback to default");
+			return PATH_POSTPROCESSING_CORRIDORFUNNEL;
+	}
+}
+
+void NavigationPathQueryParameters3D::set_map(const RID &p_map) {
+	parameters.map = p_map;
+}
+
+const RID &NavigationPathQueryParameters3D::get_map() const {
+	return parameters.map;
+}
+
+void NavigationPathQueryParameters3D::set_start_position(const Vector3 &p_start_position) {
+	parameters.start_position = p_start_position;
+}
+
+const Vector3 &NavigationPathQueryParameters3D::get_start_position() const {
+	return parameters.start_position;
+}
+
+void NavigationPathQueryParameters3D::set_target_position(const Vector3 &p_target_position) {
+	parameters.target_position = p_target_position;
+}
+
+const Vector3 &NavigationPathQueryParameters3D::get_target_position() const {
+	return parameters.target_position;
+}
+
+void NavigationPathQueryParameters3D::set_navigation_layers(uint32_t p_navigation_layers) {
+	parameters.navigation_layers = p_navigation_layers;
+}
+
+uint32_t NavigationPathQueryParameters3D::get_navigation_layers() const {
+	return parameters.navigation_layers;
+}
+
+void NavigationPathQueryParameters3D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationPathQueryParameters3D::set_pathfinding_algorithm);
+	ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationPathQueryParameters3D::get_pathfinding_algorithm);
+
+	ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationPathQueryParameters3D::set_path_postprocessing);
+	ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationPathQueryParameters3D::get_path_postprocessing);
+
+	ClassDB::bind_method(D_METHOD("set_map", "map"), &NavigationPathQueryParameters3D::set_map);
+	ClassDB::bind_method(D_METHOD("get_map"), &NavigationPathQueryParameters3D::get_map);
+
+	ClassDB::bind_method(D_METHOD("set_start_position", "start_position"), &NavigationPathQueryParameters3D::set_start_position);
+	ClassDB::bind_method(D_METHOD("get_start_position"), &NavigationPathQueryParameters3D::get_start_position);
+
+	ClassDB::bind_method(D_METHOD("set_target_position", "target_position"), &NavigationPathQueryParameters3D::set_target_position);
+	ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationPathQueryParameters3D::get_target_position);
+
+	ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationPathQueryParameters3D::set_navigation_layers);
+	ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationPathQueryParameters3D::get_navigation_layers);
+
+	ADD_PROPERTY(PropertyInfo(Variant::RID, "map"), "set_map", "get_map");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "start_position"), "set_start_position", "get_start_position");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position"), "set_target_position", "get_target_position");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
+
+	BIND_ENUM_CONSTANT(PATHFINDING_ALGORITHM_ASTAR);
+
+	BIND_ENUM_CONSTANT(PATH_POSTPROCESSING_CORRIDORFUNNEL);
+	BIND_ENUM_CONSTANT(PATH_POSTPROCESSING_EDGECENTERED);
+}
diff --git a/servers/navigation/navigation_path_query_parameters_3d.h b/servers/navigation/navigation_path_query_parameters_3d.h
new file mode 100644
index 0000000000..b4cf02fc79
--- /dev/null
+++ b/servers/navigation/navigation_path_query_parameters_3d.h
@@ -0,0 +1,79 @@
+/*************************************************************************/
+/*  navigation_path_query_parameters_3d.h                                */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#ifndef NAVIGATION_PATH_QUERY_PARAMETERS_3D_H
+#define NAVIGATION_PATH_QUERY_PARAMETERS_3D_H
+
+#include "core/object/ref_counted.h"
+#include "servers/navigation/navigation_utilities.h"
+
+class NavigationPathQueryParameters3D : public RefCounted {
+	GDCLASS(NavigationPathQueryParameters3D, RefCounted);
+
+	NavigationUtilities::PathQueryParameters parameters;
+
+protected:
+	static void _bind_methods();
+
+public:
+	enum PathfindingAlgorithm {
+		PATHFINDING_ALGORITHM_ASTAR = 0,
+	};
+
+	enum PathPostProcessing {
+		PATH_POSTPROCESSING_CORRIDORFUNNEL = 0,
+		PATH_POSTPROCESSING_EDGECENTERED,
+	};
+
+	const NavigationUtilities::PathQueryParameters &get_parameters() const { return parameters; }
+
+	void set_pathfinding_algorithm(const PathfindingAlgorithm p_pathfinding_algorithm);
+	PathfindingAlgorithm get_pathfinding_algorithm() const;
+
+	void set_path_postprocessing(const PathPostProcessing p_path_postprocessing);
+	PathPostProcessing get_path_postprocessing() const;
+
+	void set_map(const RID &p_map);
+	const RID &get_map() const;
+
+	void set_start_position(const Vector3 &p_start_position);
+	const Vector3 &get_start_position() const;
+
+	void set_target_position(const Vector3 &p_target_position);
+	const Vector3 &get_target_position() const;
+
+	void set_navigation_layers(uint32_t p_navigation_layers);
+	uint32_t get_navigation_layers() const;
+};
+
+VARIANT_ENUM_CAST(NavigationPathQueryParameters3D::PathfindingAlgorithm);
+VARIANT_ENUM_CAST(NavigationPathQueryParameters3D::PathPostProcessing);
+
+#endif // NAVIGATION_PATH_QUERY_PARAMETERS_3D_H
diff --git a/servers/navigation/navigation_path_query_result_2d.cpp b/servers/navigation/navigation_path_query_result_2d.cpp
new file mode 100644
index 0000000000..23f001057b
--- /dev/null
+++ b/servers/navigation/navigation_path_query_result_2d.cpp
@@ -0,0 +1,46 @@
+/*************************************************************************/
+/*  navigation_path_query_result_2d.cpp                                  */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#include "navigation_path_query_result_2d.h"
+
+void NavigationPathQueryResult2D::set_path(const Vector<Vector2> &p_path) {
+	path = p_path;
+}
+
+const Vector<Vector2> &NavigationPathQueryResult2D::get_path() const {
+	return path;
+}
+
+void NavigationPathQueryResult2D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_path", "path"), &NavigationPathQueryResult2D::set_path);
+	ClassDB::bind_method(D_METHOD("get_path"), &NavigationPathQueryResult2D::get_path);
+
+	ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR2_ARRAY, "path"), "set_path", "get_path");
+}
diff --git a/servers/navigation/navigation_path_query_result_2d.h b/servers/navigation/navigation_path_query_result_2d.h
new file mode 100644
index 0000000000..c98462016e
--- /dev/null
+++ b/servers/navigation/navigation_path_query_result_2d.h
@@ -0,0 +1,50 @@
+/*************************************************************************/
+/*  navigation_path_query_result_2d.h                                    */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#ifndef NAVIGATION_PATH_QUERY_RESULT_2D_H
+#define NAVIGATION_PATH_QUERY_RESULT_2D_H
+
+#include "core/object/ref_counted.h"
+#include "servers/navigation/navigation_utilities.h"
+
+class NavigationPathQueryResult2D : public RefCounted {
+	GDCLASS(NavigationPathQueryResult2D, RefCounted);
+
+	Vector<Vector2> path;
+
+protected:
+	static void _bind_methods();
+
+public:
+	void set_path(const Vector<Vector2> &p_path);
+	const Vector<Vector2> &get_path() const;
+};
+
+#endif // NAVIGATION_PATH_QUERY_RESULT_2D_H
diff --git a/servers/navigation/navigation_path_query_result_3d.cpp b/servers/navigation/navigation_path_query_result_3d.cpp
new file mode 100644
index 0000000000..8335d70c4b
--- /dev/null
+++ b/servers/navigation/navigation_path_query_result_3d.cpp
@@ -0,0 +1,46 @@
+/*************************************************************************/
+/*  navigation_path_query_result_3d.cpp                                  */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#include "navigation_path_query_result_3d.h"
+
+void NavigationPathQueryResult3D::set_path(const Vector<Vector3> &p_path) {
+	path = p_path;
+}
+
+const Vector<Vector3> &NavigationPathQueryResult3D::get_path() const {
+	return path;
+}
+
+void NavigationPathQueryResult3D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_path", "path"), &NavigationPathQueryResult3D::set_path);
+	ClassDB::bind_method(D_METHOD("get_path"), &NavigationPathQueryResult3D::get_path);
+
+	ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR3_ARRAY, "path"), "set_path", "get_path");
+}
diff --git a/servers/navigation/navigation_path_query_result_3d.h b/servers/navigation/navigation_path_query_result_3d.h
new file mode 100644
index 0000000000..ff698c285f
--- /dev/null
+++ b/servers/navigation/navigation_path_query_result_3d.h
@@ -0,0 +1,50 @@
+/*************************************************************************/
+/*  navigation_path_query_result_3d.h                                    */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#ifndef NAVIGATION_PATH_QUERY_RESULT_3D_H
+#define NAVIGATION_PATH_QUERY_RESULT_3D_H
+
+#include "core/object/ref_counted.h"
+#include "servers/navigation/navigation_utilities.h"
+
+class NavigationPathQueryResult3D : public RefCounted {
+	GDCLASS(NavigationPathQueryResult3D, RefCounted);
+
+	Vector<Vector3> path;
+
+protected:
+	static void _bind_methods();
+
+public:
+	void set_path(const Vector<Vector3> &p_path);
+	const Vector<Vector3> &get_path() const;
+};
+
+#endif // NAVIGATION_PATH_QUERY_RESULT_3D_H
diff --git a/servers/navigation/navigation_utilities.h b/servers/navigation/navigation_utilities.h
new file mode 100644
index 0000000000..bedcc16a67
--- /dev/null
+++ b/servers/navigation/navigation_utilities.h
@@ -0,0 +1,62 @@
+/*************************************************************************/
+/*  navigation_utilities.h                                               */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#ifndef NAVIGATION_UTILITIES_H
+#define NAVIGATION_UTILITIES_H
+
+#include "core/math/vector3.h"
+
+namespace NavigationUtilities {
+
+enum PathfindingAlgorithm {
+	PATHFINDING_ALGORITHM_ASTAR = 0,
+};
+
+enum PathPostProcessing {
+	PATH_POSTPROCESSING_CORRIDORFUNNEL = 0,
+	PATH_POSTPROCESSING_EDGECENTERED,
+};
+
+struct PathQueryParameters {
+	PathfindingAlgorithm pathfinding_algorithm = PATHFINDING_ALGORITHM_ASTAR;
+	PathPostProcessing path_postprocessing = PATH_POSTPROCESSING_CORRIDORFUNNEL;
+	RID map;
+	Vector3 start_position = Vector3();
+	Vector3 target_position = Vector3();
+	uint32_t navigation_layers = 1;
+};
+
+struct PathQueryResult {
+	Vector<Vector3> path;
+};
+
+} //namespace NavigationUtilities
+
+#endif // NAVIGATION_UTILITIES_H
diff --git a/servers/navigation_server_2d.cpp b/servers/navigation_server_2d.cpp
index cec8b95225..04e5d2f6a1 100644
--- a/servers/navigation_server_2d.cpp
+++ b/servers/navigation_server_2d.cpp
@@ -243,6 +243,8 @@ void NavigationServer2D::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("map_force_update", "map"), &NavigationServer2D::map_force_update);
 
+	ClassDB::bind_method(D_METHOD("query_path", "parameters", "result"), &NavigationServer2D::query_path);
+
 	ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer2D::region_create);
 	ClassDB::bind_method(D_METHOD("region_set_enter_cost", "region", "enter_cost"), &NavigationServer2D::region_set_enter_cost);
 	ClassDB::bind_method(D_METHOD("region_get_enter_cost", "region"), &NavigationServer2D::region_get_enter_cost);
@@ -409,3 +411,12 @@ bool FORWARD_1_C(agent_is_map_changed, RID, p_agent, rid_to_rid);
 void FORWARD_4_C(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata, rid_to_rid, obj_to_obj, sn_to_sn, var_to_var);
 
 void FORWARD_1_C(free, RID, p_object, rid_to_rid);
+
+void NavigationServer2D::query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const {
+	ERR_FAIL_COND(!p_query_parameters.is_valid());
+	ERR_FAIL_COND(!p_query_result.is_valid());
+
+	const NavigationUtilities::PathQueryResult _query_result = NavigationServer3D::get_singleton()->_query_path(p_query_parameters->get_parameters());
+
+	p_query_result->set_path(vector_v3_to_v2(_query_result.path));
+}
diff --git a/servers/navigation_server_2d.h b/servers/navigation_server_2d.h
index b2ea4c28a0..54cfc6b14e 100644
--- a/servers/navigation_server_2d.h
+++ b/servers/navigation_server_2d.h
@@ -33,7 +33,10 @@
 
 #include "core/object/class_db.h"
 #include "core/templates/rid.h"
+
 #include "scene/2d/navigation_region_2d.h"
+#include "servers/navigation/navigation_path_query_parameters_2d.h"
+#include "servers/navigation/navigation_path_query_result_2d.h"
 
 // This server exposes the `NavigationServer3D` features in the 2D world.
 class NavigationServer2D : public Object {
@@ -217,6 +220,8 @@ public:
 	/// Callback called at the end of the RVO process
 	virtual void agent_set_callback(RID p_agent, Object *p_receiver, StringName p_method, Variant p_udata = Variant()) const;
 
+	virtual void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const;
+
 	/// Destroy the `RID`
 	virtual void free(RID p_object) const;
 
diff --git a/servers/navigation_server_3d.cpp b/servers/navigation_server_3d.cpp
index bc0602e1df..783d32641e 100644
--- a/servers/navigation_server_3d.cpp
+++ b/servers/navigation_server_3d.cpp
@@ -62,6 +62,8 @@ void NavigationServer3D::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("map_force_update", "map"), &NavigationServer3D::map_force_update);
 
+	ClassDB::bind_method(D_METHOD("query_path", "parameters", "result"), &NavigationServer3D::query_path);
+
 	ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer3D::region_create);
 	ClassDB::bind_method(D_METHOD("region_set_enter_cost", "region", "enter_cost"), &NavigationServer3D::region_set_enter_cost);
 	ClassDB::bind_method(D_METHOD("region_get_enter_cost", "region"), &NavigationServer3D::region_get_enter_cost);
@@ -485,3 +487,14 @@ bool NavigationServer3D::get_debug_enabled() const {
 	return debug_enabled;
 }
 #endif // DEBUG_ENABLED
+
+///////////////////////////////////////////////////////
+
+void NavigationServer3D::query_path(const Ref<NavigationPathQueryParameters3D> &p_query_parameters, Ref<NavigationPathQueryResult3D> p_query_result) const {
+	ERR_FAIL_COND(!p_query_parameters.is_valid());
+	ERR_FAIL_COND(!p_query_result.is_valid());
+
+	const NavigationUtilities::PathQueryResult _query_result = _query_path(p_query_parameters->get_parameters());
+
+	p_query_result->set_path(_query_result.path);
+}
diff --git a/servers/navigation_server_3d.h b/servers/navigation_server_3d.h
index 02770794c6..0f537383a2 100644
--- a/servers/navigation_server_3d.h
+++ b/servers/navigation_server_3d.h
@@ -33,7 +33,10 @@
 
 #include "core/object/class_db.h"
 #include "core/templates/rid.h"
+
 #include "scene/3d/navigation_region_3d.h"
+#include "servers/navigation/navigation_path_query_parameters_3d.h"
+#include "servers/navigation/navigation_path_query_result_3d.h"
 
 /// This server uses the concept of internal mutability.
 /// All the constant functions can be called in multithread because internally
@@ -41,6 +44,7 @@
 ///
 /// Note: All the `set` functions are commands executed during the `sync` phase,
 /// don't expect that a change is immediately propagated.
+
 class NavigationServer3D : public Object {
 	GDCLASS(NavigationServer3D, Object);
 
@@ -243,6 +247,11 @@ public:
 	/// Note: This function is not thread safe.
 	virtual void process(real_t delta_time) = 0;
 
+	/// Returns a customized navigation path using a query parameters object
+	void query_path(const Ref<NavigationPathQueryParameters3D> &p_query_parameters, Ref<NavigationPathQueryResult3D> p_query_result) const;
+
+	virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const = 0;
+
 	NavigationServer3D();
 	virtual ~NavigationServer3D();
 
diff --git a/servers/register_server_types.cpp b/servers/register_server_types.cpp
index b9667f338c..a810402672 100644
--- a/servers/register_server_types.cpp
+++ b/servers/register_server_types.cpp
@@ -165,6 +165,11 @@ void register_server_types() {
 
 	GDREGISTER_ABSTRACT_CLASS(NavigationServer2D);
 	GDREGISTER_ABSTRACT_CLASS(NavigationServer3D);
+	GDREGISTER_CLASS(NavigationPathQueryParameters2D);
+	GDREGISTER_CLASS(NavigationPathQueryParameters3D);
+	GDREGISTER_CLASS(NavigationPathQueryResult2D);
+	GDREGISTER_CLASS(NavigationPathQueryResult3D);
+
 	GDREGISTER_CLASS(XRServer);
 	GDREGISTER_CLASS(CameraServer);