Expose NavigationAgent path postprocessing and pathfinding algorithm options

Exposes the path postprocessing and pathfinding algorithm options of the NavigationAgent internal NavigationPathQueryParameters object.

(cherry picked from commit 6e324bb341c795905085e25e7f7c153d89949fa9)

6 files changed, 92 insertions, 0 deletions

diff --git a/doc/classes/NavigationAgent2D.xml b/doc/classes/NavigationAgent2D.xml
index 4433e73547..e998ac5bfe 100644
--- a/doc/classes/NavigationAgent2D.xml
+++ b/doc/classes/NavigationAgent2D.xml
@@ -147,6 +147,12 @@
 		<member name="path_metadata_flags" type="int" setter="set_path_metadata_flags" getter="get_path_metadata_flags" enum="NavigationPathQueryParameters2D.PathMetadataFlags" default="7">
 			Additional information to return with the navigation path.
 		</member>
+		<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters2D.PathPostProcessing" default="0">
+			The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
+		</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="radius" type="float" setter="set_radius" getter="get_radius" default="10.0">
 			The radius of the avoidance agent. This is the "body" of the avoidance agent and not the avoidance maneuver starting radius (which is controlled by [member neighbor_distance]).
 			Does not affect normal pathfinding. To change an actor's pathfinding radius bake [NavigationMesh] resources with a different [member NavigationMesh.agent_radius] property and use different navigation maps for each actor size.
diff --git a/doc/classes/NavigationAgent3D.xml b/doc/classes/NavigationAgent3D.xml
index 962573ea5a..c41825640c 100644
--- a/doc/classes/NavigationAgent3D.xml
+++ b/doc/classes/NavigationAgent3D.xml
@@ -150,6 +150,12 @@
 		<member name="path_metadata_flags" type="int" setter="set_path_metadata_flags" getter="get_path_metadata_flags" enum="NavigationPathQueryParameters3D.PathMetadataFlags" default="7">
 			Additional information to return with the navigation path.
 		</member>
+		<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters3D.PathPostProcessing" default="0">
+			The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
+		</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="radius" type="float" setter="set_radius" getter="get_radius" default="0.5">
 			The radius of the avoidance agent. This is the "body" of the avoidance agent and not the avoidance maneuver starting radius (which is controlled by [member neighbor_distance]).
 			Does not affect normal pathfinding. To change an actor's pathfinding radius bake [NavigationMesh] resources with a different [member NavigationMesh.agent_radius] property and use different navigation maps for each actor size.
diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp
index 157318125b..d101cac4eb 100644
--- a/scene/2d/navigation_agent_2d.cpp
+++ b/scene/2d/navigation_agent_2d.cpp
@@ -71,6 +71,12 @@ void NavigationAgent2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent2D::set_navigation_layer_value);
 	ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent2D::get_navigation_layer_value);
 
+	ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent2D::set_pathfinding_algorithm);
+	ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent2D::get_pathfinding_algorithm);
+
+	ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent2D::set_path_postprocessing);
+	ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent2D::get_path_postprocessing);
+
 	ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent2D::set_path_metadata_flags);
 	ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent2D::get_path_metadata_flags);
 
@@ -99,6 +105,8 @@ void NavigationAgent2D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,1000,0.01,or_greater,suffix:px"), "set_target_desired_distance", "get_target_desired_distance");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "10,1000,1,or_greater,suffix:px"), "set_path_max_distance", "get_path_max_distance");
 	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");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
 
 	ADD_GROUP("Avoidance", "");
@@ -328,6 +336,26 @@ bool NavigationAgent2D::get_navigation_layer_value(int p_layer_number) const {
 	return get_navigation_layers() & (1 << (p_layer_number - 1));
 }
 
+void NavigationAgent2D::set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm) {
+	if (pathfinding_algorithm == p_pathfinding_algorithm) {
+		return;
+	}
+
+	pathfinding_algorithm = p_pathfinding_algorithm;
+
+	navigation_query->set_pathfinding_algorithm(pathfinding_algorithm);
+}
+
+void NavigationAgent2D::set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing) {
+	if (path_postprocessing == p_path_postprocessing) {
+		return;
+	}
+
+	path_postprocessing = p_path_postprocessing;
+
+	navigation_query->set_path_postprocessing(path_postprocessing);
+}
+
 void NavigationAgent2D::set_path_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_path_metadata_flags) {
 	if (path_metadata_flags == p_path_metadata_flags) {
 		return;
diff --git a/scene/2d/navigation_agent_2d.h b/scene/2d/navigation_agent_2d.h
index 97c5d94483..b7febba89d 100644
--- a/scene/2d/navigation_agent_2d.h
+++ b/scene/2d/navigation_agent_2d.h
@@ -48,6 +48,8 @@ class NavigationAgent2D : public Node {
 
 	bool avoidance_enabled = false;
 	uint32_t navigation_layers = 1;
+	NavigationPathQueryParameters2D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters2D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+	NavigationPathQueryParameters2D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters2D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
 	BitField<NavigationPathQueryParameters2D::PathMetadataFlags> path_metadata_flags = NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL;
 
 	real_t path_desired_distance = 20.0;
@@ -112,6 +114,16 @@ public:
 	void set_navigation_layer_value(int p_layer_number, bool p_value);
 	bool get_navigation_layer_value(int p_layer_number) const;
 
+	void set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm);
+	NavigationPathQueryParameters2D::PathfindingAlgorithm get_pathfinding_algorithm() const {
+		return pathfinding_algorithm;
+	}
+
+	void set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing);
+	NavigationPathQueryParameters2D::PathPostProcessing get_path_postprocessing() const {
+		return path_postprocessing;
+	}
+
 	void set_path_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_flags);
 	BitField<NavigationPathQueryParameters2D::PathMetadataFlags> get_path_metadata_flags() const {
 		return path_metadata_flags;
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 3730070b16..7d404ffa07 100644
--- a/scene/3d/navigation_agent_3d.cpp
+++ b/scene/3d/navigation_agent_3d.cpp
@@ -75,6 +75,12 @@ void NavigationAgent3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent3D::set_navigation_layer_value);
 	ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent3D::get_navigation_layer_value);
 
+	ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent3D::set_pathfinding_algorithm);
+	ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent3D::get_pathfinding_algorithm);
+
+	ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent3D::set_path_postprocessing);
+	ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent3D::get_path_postprocessing);
+
 	ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent3D::set_path_metadata_flags);
 	ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent3D::get_path_metadata_flags);
 
@@ -104,6 +110,8 @@ void NavigationAgent3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01,or_greater,suffix:m"), "set_agent_height_offset", "get_agent_height_offset");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1,or_greater,suffix:m"), "set_path_max_distance", "get_path_max_distance");
 	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");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
 
 	ADD_GROUP("Avoidance", "");
@@ -335,6 +343,26 @@ bool NavigationAgent3D::get_navigation_layer_value(int p_layer_number) const {
 	return get_navigation_layers() & (1 << (p_layer_number - 1));
 }
 
+void NavigationAgent3D::set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm) {
+	if (pathfinding_algorithm == p_pathfinding_algorithm) {
+		return;
+	}
+
+	pathfinding_algorithm = p_pathfinding_algorithm;
+
+	navigation_query->set_pathfinding_algorithm(pathfinding_algorithm);
+}
+
+void NavigationAgent3D::set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing) {
+	if (path_postprocessing == p_path_postprocessing) {
+		return;
+	}
+
+	path_postprocessing = p_path_postprocessing;
+
+	navigation_query->set_path_postprocessing(path_postprocessing);
+}
+
 void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_path_metadata_flags) {
 	if (path_metadata_flags == p_path_metadata_flags) {
 		return;
diff --git a/scene/3d/navigation_agent_3d.h b/scene/3d/navigation_agent_3d.h
index cde826ed5c..16d702f9a5 100644
--- a/scene/3d/navigation_agent_3d.h
+++ b/scene/3d/navigation_agent_3d.h
@@ -48,6 +48,8 @@ class NavigationAgent3D : public Node {
 
 	bool avoidance_enabled = false;
 	uint32_t navigation_layers = 1;
+	NavigationPathQueryParameters3D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters3D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+	NavigationPathQueryParameters3D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
 	BitField<NavigationPathQueryParameters3D::PathMetadataFlags> path_metadata_flags = NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL;
 
 	real_t path_desired_distance = 1.0;
@@ -116,6 +118,16 @@ public:
 	void set_navigation_layer_value(int p_layer_number, bool p_value);
 	bool get_navigation_layer_value(int p_layer_number) const;
 
+	void set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm);
+	NavigationPathQueryParameters3D::PathfindingAlgorithm get_pathfinding_algorithm() const {
+		return pathfinding_algorithm;
+	}
+
+	void set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing);
+	NavigationPathQueryParameters3D::PathPostProcessing get_path_postprocessing() const {
+		return path_postprocessing;
+	}
+
 	void set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_flags);
 	BitField<NavigationPathQueryParameters3D::PathMetadataFlags> get_path_metadata_flags() const {
 		return path_metadata_flags;