Merge pull request #46786 from groud/navigation

Remove Navigation2D/3D nodes

8 files changed, 70 insertions, 379 deletions

diff --git a/scene/3d/navigation_3d.cpp b/scene/3d/navigation_3d.cpp
deleted file mode 100644
index eaddec7601..0000000000
--- a/scene/3d/navigation_3d.cpp
+++ /dev/null
@@ -1,117 +0,0 @@
-/*************************************************************************/
-/*  navigation_3d.cpp                                                    */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2021 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_3d.h"
-
-#include "servers/navigation_server_3d.h"
-
-Vector<Vector3> Navigation3D::get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize) const {
-	return NavigationServer3D::get_singleton()->map_get_path(map, p_start, p_end, p_optimize);
-}
-
-Vector3 Navigation3D::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, bool p_use_collision) const {
-	return NavigationServer3D::get_singleton()->map_get_closest_point_to_segment(map, p_from, p_to, p_use_collision);
-}
-
-Vector3 Navigation3D::get_closest_point(const Vector3 &p_point) const {
-	return NavigationServer3D::get_singleton()->map_get_closest_point(map, p_point);
-}
-
-Vector3 Navigation3D::get_closest_point_normal(const Vector3 &p_point) const {
-	return NavigationServer3D::get_singleton()->map_get_closest_point_normal(map, p_point);
-}
-
-RID Navigation3D::get_closest_point_owner(const Vector3 &p_point) const {
-	return NavigationServer3D::get_singleton()->map_get_closest_point_owner(map, p_point);
-}
-
-void Navigation3D::set_up_vector(const Vector3 &p_up) {
-	up = p_up;
-	NavigationServer3D::get_singleton()->map_set_up(map, up);
-}
-
-Vector3 Navigation3D::get_up_vector() const {
-	return up;
-}
-
-void Navigation3D::set_cell_size(float p_cell_size) {
-	cell_size = p_cell_size;
-	NavigationServer3D::get_singleton()->map_set_cell_size(map, cell_size);
-}
-
-void Navigation3D::set_edge_connection_margin(float p_edge_connection_margin) {
-	edge_connection_margin = p_edge_connection_margin;
-	NavigationServer3D::get_singleton()->map_set_edge_connection_margin(map, edge_connection_margin);
-}
-
-void Navigation3D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("get_rid"), &Navigation3D::get_rid);
-
-	ClassDB::bind_method(D_METHOD("get_simple_path", "start", "end", "optimize"), &Navigation3D::get_simple_path, DEFVAL(true));
-	ClassDB::bind_method(D_METHOD("get_closest_point_to_segment", "start", "end", "use_collision"), &Navigation3D::get_closest_point_to_segment, DEFVAL(false));
-	ClassDB::bind_method(D_METHOD("get_closest_point", "to_point"), &Navigation3D::get_closest_point);
-	ClassDB::bind_method(D_METHOD("get_closest_point_normal", "to_point"), &Navigation3D::get_closest_point_normal);
-	ClassDB::bind_method(D_METHOD("get_closest_point_owner", "to_point"), &Navigation3D::get_closest_point_owner);
-
-	ClassDB::bind_method(D_METHOD("set_up_vector", "up"), &Navigation3D::set_up_vector);
-	ClassDB::bind_method(D_METHOD("get_up_vector"), &Navigation3D::get_up_vector);
-
-	ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &Navigation3D::set_cell_size);
-	ClassDB::bind_method(D_METHOD("get_cell_size"), &Navigation3D::get_cell_size);
-
-	ClassDB::bind_method(D_METHOD("set_edge_connection_margin", "margin"), &Navigation3D::set_edge_connection_margin);
-	ClassDB::bind_method(D_METHOD("get_edge_connection_margin"), &Navigation3D::get_edge_connection_margin);
-
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "up_vector"), "set_up_vector", "get_up_vector");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell_size"), "set_cell_size", "get_cell_size");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "edge_connection_margin"), "set_edge_connection_margin", "get_edge_connection_margin");
-}
-
-void Navigation3D::_notification(int p_what) {
-	switch (p_what) {
-		case NOTIFICATION_READY: {
-			NavigationServer3D::get_singleton()->map_set_active(map, true);
-		} break;
-		case NOTIFICATION_EXIT_TREE: {
-			NavigationServer3D::get_singleton()->map_set_active(map, false);
-		} break;
-	}
-}
-
-Navigation3D::Navigation3D() {
-	map = NavigationServer3D::get_singleton()->map_create();
-
-	set_cell_size(0.3);
-	set_edge_connection_margin(5.0); // Five meters, depends a lot on the agent's radius
-}
-
-Navigation3D::~Navigation3D() {
-	NavigationServer3D::get_singleton()->free(map);
-}
diff --git a/scene/3d/navigation_3d.h b/scene/3d/navigation_3d.h
deleted file mode 100644
index b89725a3f5..0000000000
--- a/scene/3d/navigation_3d.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*************************************************************************/
-/*  navigation_3d.h                                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2021 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_3D_H
-#define NAVIGATION_3D_H
-
-#include "scene/3d/navigation_region_3d.h"
-#include "scene/3d/node_3d.h"
-
-class Navigation3D : public Node3D {
-	GDCLASS(Navigation3D, Node3D);
-
-	RID map;
-
-	Vector3 up = Vector3(0, 1, 0);
-	real_t cell_size;
-	real_t edge_connection_margin;
-
-protected:
-	static void _bind_methods();
-	void _notification(int p_what);
-
-public:
-	RID get_rid() const {
-		return map;
-	}
-
-	void set_up_vector(const Vector3 &p_up);
-	Vector3 get_up_vector() const;
-
-	void set_cell_size(float p_cell_size);
-	float get_cell_size() const {
-		return cell_size;
-	}
-
-	void set_edge_connection_margin(float p_edge_connection_margin);
-	float get_edge_connection_margin() const {
-		return edge_connection_margin;
-	}
-
-	Vector<Vector3> get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize = true) const;
-	Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, bool p_use_collision = false) const;
-	Vector3 get_closest_point(const Vector3 &p_point) const;
-	Vector3 get_closest_point_normal(const Vector3 &p_point) const;
-	RID get_closest_point_owner(const Vector3 &p_point) const;
-
-	Navigation3D();
-	~Navigation3D();
-};
-
-#endif // NAVIGATION_H
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 8917cc4664..21ca3d70dd 100644
--- a/scene/3d/navigation_agent_3d.cpp
+++ b/scene/3d/navigation_agent_3d.cpp
@@ -31,7 +31,6 @@
 #include "navigation_agent_3d.h"
 
 #include "core/config/engine.h"
-#include "scene/3d/navigation_3d.h"
 #include "servers/navigation_server_3d.h"
 
 void NavigationAgent3D::_bind_methods() {
@@ -47,9 +46,6 @@ void NavigationAgent3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent3D::set_ignore_y);
 	ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent3D::get_ignore_y);
 
-	ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent3D::set_navigation_node);
-	ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent3D::get_navigation_node);
-
 	ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent3D::set_neighbor_dist);
 	ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent3D::get_neighbor_dist);
 
@@ -101,28 +97,10 @@ void NavigationAgent3D::_notification(int p_what) {
 			agent_parent = Object::cast_to<Node3D>(get_parent());
 
 			NavigationServer3D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
-
-			// Search the navigation node and set it
-			{
-				Navigation3D *nav = nullptr;
-				Node *p = get_parent();
-				while (p != nullptr) {
-					nav = Object::cast_to<Navigation3D>(p);
-					if (nav != nullptr) {
-						p = nullptr;
-					} else {
-						p = p->get_parent();
-					}
-				}
-
-				set_navigation(nav);
-			}
-
 			set_physics_process_internal(true);
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
 			agent_parent = nullptr;
-			set_navigation(nullptr);
 			set_physics_process_internal(false);
 		} break;
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
@@ -154,25 +132,6 @@ NavigationAgent3D::~NavigationAgent3D() {
 	agent = RID(); // Pointless
 }
 
-void NavigationAgent3D::set_navigation(Navigation3D *p_nav) {
-	if (navigation == p_nav) {
-		return; // Pointless
-	}
-
-	navigation = p_nav;
-	NavigationServer3D::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
-}
-
-void NavigationAgent3D::set_navigation_node(Node *p_nav) {
-	Navigation3D *nav = Object::cast_to<Navigation3D>(p_nav);
-	ERR_FAIL_COND(nav == nullptr);
-	set_navigation(nav);
-}
-
-Node *NavigationAgent3D::get_navigation_node() const {
-	return Object::cast_to<Node>(navigation);
-}
-
 void NavigationAgent3D::set_target_desired_distance(real_t p_dd) {
 	target_desired_distance = p_dd;
 }
@@ -303,7 +262,7 @@ void NavigationAgent3D::update_navigation() {
 	if (agent_parent == nullptr) {
 		return;
 	}
-	if (navigation == nullptr) {
+	if (!agent_parent->is_inside_tree()) {
 		return;
 	}
 	if (update_frame_id == Engine::get_singleton()->get_physics_frames()) {
@@ -337,7 +296,7 @@ void NavigationAgent3D::update_navigation() {
 	}
 
 	if (reload_path) {
-		navigation_path = NavigationServer3D::get_singleton()->map_get_path(navigation->get_rid(), o, target_location, true);
+		navigation_path = NavigationServer3D::get_singleton()->map_get_path(agent_parent->get_world_3d()->get_navigation_map(), o, target_location, true);
 		navigation_finished = false;
 		nav_path_index = 0;
 		emit_signal("path_changed");
diff --git a/scene/3d/navigation_agent_3d.h b/scene/3d/navigation_agent_3d.h
index bd890a051b..22db889618 100644
--- a/scene/3d/navigation_agent_3d.h
+++ b/scene/3d/navigation_agent_3d.h
@@ -35,13 +35,11 @@
 #include "scene/main/node.h"
 
 class Node3D;
-class Navigation3D;
 
 class NavigationAgent3D : public Node {
 	GDCLASS(NavigationAgent3D, Node);
 
 	Node3D *agent_parent = nullptr;
-	Navigation3D *navigation = nullptr;
 
 	RID agent;
 
@@ -76,14 +74,6 @@ public:
 	NavigationAgent3D();
 	virtual ~NavigationAgent3D();
 
-	void set_navigation(Navigation3D *p_nav);
-	const Navigation3D *get_navigation() const {
-		return navigation;
-	}
-
-	void set_navigation_node(Node *p_nav);
-	Node *get_navigation_node() const;
-
 	RID get_rid() const {
 		return agent;
 	}
diff --git a/scene/3d/navigation_obstacle_3d.cpp b/scene/3d/navigation_obstacle_3d.cpp
index 01bf7de913..df03bca4fd 100644
--- a/scene/3d/navigation_obstacle_3d.cpp
+++ b/scene/3d/navigation_obstacle_3d.cpp
@@ -31,55 +31,38 @@
 #include "navigation_obstacle_3d.h"
 
 #include "scene/3d/collision_shape_3d.h"
-#include "scene/3d/navigation_3d.h"
 #include "scene/3d/physics_body_3d.h"
 #include "servers/navigation_server_3d.h"
 
 void NavigationObstacle3D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle3D::set_navigation_node);
-	ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle3D::get_navigation_node);
 }
 
 void NavigationObstacle3D::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_READY: {
-			update_agent_shape();
-
-			// Search the navigation node and set it
-			{
-				Navigation3D *nav = nullptr;
-				Node *p = get_parent();
-				while (p != nullptr) {
-					nav = Object::cast_to<Navigation3D>(p);
-					if (nav != nullptr) {
-						p = nullptr;
-					} else {
-						p = p->get_parent();
-					}
-				}
-
-				set_navigation(nav);
-			}
-
 			set_physics_process_internal(true);
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
-			set_navigation(nullptr);
 			set_physics_process_internal(false);
 		} break;
+		case NOTIFICATION_PARENTED: {
+			parent_node3d = Object::cast_to<Node3D>(get_parent());
+			update_agent_shape();
+		} break;
+		case NOTIFICATION_UNPARENTED: {
+			parent_node3d = nullptr;
+		} break;
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
-			Node3D *spatial = Object::cast_to<Node3D>(get_parent());
-			if (spatial) {
-				NavigationServer3D::get_singleton()->agent_set_position(agent, spatial->get_global_transform().origin);
-			}
-
-			PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent());
-			if (rigid) {
-				Vector3 v = rigid->get_linear_velocity();
-				NavigationServer3D::get_singleton()->agent_set_velocity(agent, v);
-				NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, v);
+			if (parent_node3d) {
+				NavigationServer3D::get_singleton()->agent_set_position(agent, parent_node3d->get_global_transform().origin);
+
+				PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent());
+				if (rigid) {
+					Vector3 v = rigid->get_linear_velocity();
+					NavigationServer3D::get_singleton()->agent_set_velocity(agent, v);
+					NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, v);
+				}
 			}
-
 		} break;
 	}
 }
@@ -93,29 +76,10 @@ NavigationObstacle3D::~NavigationObstacle3D() {
 	agent = RID(); // Pointless
 }
 
-void NavigationObstacle3D::set_navigation(Navigation3D *p_nav) {
-	if (navigation == p_nav) {
-		return; // Pointless
-	}
-
-	navigation = p_nav;
-	NavigationServer3D::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
-}
-
-void NavigationObstacle3D::set_navigation_node(Node *p_nav) {
-	Navigation3D *nav = Object::cast_to<Navigation3D>(p_nav);
-	ERR_FAIL_COND(nav == nullptr);
-	set_navigation(nav);
-}
-
-Node *NavigationObstacle3D::get_navigation_node() const {
-	return Object::cast_to<Node>(navigation);
-}
-
 String NavigationObstacle3D::get_configuration_warning() const {
 	String warning = Node::get_configuration_warning();
 
-	if (!Object::cast_to<Node3D>(get_parent())) {
+	if (!parent_node3d) {
 		if (!warning.is_empty()) {
 			warning += "\n\n";
 		}
@@ -126,40 +90,38 @@ String NavigationObstacle3D::get_configuration_warning() const {
 }
 
 void NavigationObstacle3D::update_agent_shape() {
-	Node *node = get_parent();
-
-	// Estimate the radius of this physics body
-	real_t radius = 0.0;
-	for (int i(0); i < node->get_child_count(); i++) {
-		// For each collision shape
-		CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(node->get_child(i));
-		if (cs) {
-			// Take the distance between the Body center to the shape center
-			real_t r = cs->get_transform().origin.length();
-			if (cs->get_shape().is_valid()) {
-				// and add the enclosing shape radius
-				r += cs->get_shape()->get_enclosing_radius();
+	if (parent_node3d) {
+		// Estimate the radius of this physics body
+		real_t radius = 0.0;
+		for (int i(0); i < parent_node3d->get_child_count(); i++) {
+			// For each collision shape
+			CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(parent_node3d->get_child(i));
+			if (cs) {
+				// Take the distance between the Body center to the shape center
+				real_t r = cs->get_transform().origin.length();
+				if (cs->get_shape().is_valid()) {
+					// and add the enclosing shape radius
+					r += cs->get_shape()->get_enclosing_radius();
+				}
+				Vector3 s = cs->get_global_transform().basis.get_scale();
+				r *= MAX(s.x, MAX(s.y, s.z));
+				// Takes the biggest radius
+				radius = MAX(radius, r);
 			}
-			Vector3 s = cs->get_global_transform().basis.get_scale();
-			r *= MAX(s.x, MAX(s.y, s.z));
-			// Takes the biggest radius
-			radius = MAX(radius, r);
 		}
-	}
-	Node3D *spa = Object::cast_to<Node3D>(node);
-	if (spa) {
-		Vector3 s = spa->get_global_transform().basis.get_scale();
+
+		Vector3 s = parent_node3d->get_global_transform().basis.get_scale();
 		radius *= MAX(s.x, MAX(s.y, s.z));
-	}
 
-	if (radius == 0.0) {
-		radius = 1.0; // Never a 0 radius
-	}
+		if (radius == 0.0) {
+			radius = 1.0; // Never a 0 radius
+		}
 
-	// Initialize the Agent as an object
-	NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
-	NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
-	NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
-	NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
-	NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
+		// Initialize the Agent as an object
+		NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
+		NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
+		NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
+		NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
+		NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
+	}
 }
diff --git a/scene/3d/navigation_obstacle_3d.h b/scene/3d/navigation_obstacle_3d.h
index b8d05b8a87..b1bb53724a 100644
--- a/scene/3d/navigation_obstacle_3d.h
+++ b/scene/3d/navigation_obstacle_3d.h
@@ -31,15 +31,13 @@
 #ifndef NAVIGATION_OBSTACLE_H
 #define NAVIGATION_OBSTACLE_H
 
+#include "scene/3d/node_3d.h"
 #include "scene/main/node.h"
 
-class Navigation3D;
-
 class NavigationObstacle3D : public Node {
 	GDCLASS(NavigationObstacle3D, Node);
 
-	Navigation3D *navigation = nullptr;
-
+	Node3D *parent_node3d = nullptr;
 	RID agent;
 
 protected:
@@ -50,14 +48,6 @@ public:
 	NavigationObstacle3D();
 	virtual ~NavigationObstacle3D();
 
-	void set_navigation(Navigation3D *p_nav);
-	const Navigation3D *get_navigation() const {
-		return navigation;
-	}
-
-	void set_navigation_node(Node *p_nav);
-	Node *get_navigation_node() const;
-
 	RID get_rid() const {
 		return agent;
 	}
diff --git a/scene/3d/navigation_region_3d.cpp b/scene/3d/navigation_region_3d.cpp
index 19bde94222..3ca704e4b8 100644
--- a/scene/3d/navigation_region_3d.cpp
+++ b/scene/3d/navigation_region_3d.cpp
@@ -32,7 +32,6 @@
 
 #include "core/os/thread.h"
 #include "mesh_instance_3d.h"
-#include "navigation_3d.h"
 #include "servers/navigation_server_3d.h"
 
 void NavigationRegion3D::set_enabled(bool p_enabled) {
@@ -48,9 +47,7 @@ void NavigationRegion3D::set_enabled(bool p_enabled) {
 	if (!enabled) {
 		NavigationServer3D::get_singleton()->region_set_map(region, RID());
 	} else {
-		if (navigation) {
-			NavigationServer3D::get_singleton()->region_set_map(region, navigation->get_rid());
-		}
+		NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
 	}
 
 	if (debug_view) {
@@ -69,22 +66,21 @@ bool NavigationRegion3D::is_enabled() const {
 	return enabled;
 }
 
+void NavigationRegion3D::set_layers(uint32_t p_layers) {
+	NavigationServer3D::get_singleton()->region_set_layers(region, p_layers);
+}
+
+uint32_t NavigationRegion3D::get_layers() const {
+	return NavigationServer3D::get_singleton()->region_get_layers(region);
+}
+
 /////////////////////////////
 
 void NavigationRegion3D::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_ENTER_TREE: {
-			Node3D *c = this;
-			while (c) {
-				navigation = Object::cast_to<Navigation3D>(c);
-				if (navigation) {
-					if (enabled) {
-						NavigationServer3D::get_singleton()->region_set_map(region, navigation->get_rid());
-					}
-					break;
-				}
-
-				c = c->get_parent_spatial();
+			if (enabled) {
+				NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
 			}
 
 			if (navmesh.is_valid() && get_tree()->is_debugging_navigation_hint()) {
@@ -105,15 +101,12 @@ void NavigationRegion3D::_notification(int p_what) {
 
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
-			if (navigation) {
-				NavigationServer3D::get_singleton()->region_set_map(region, RID());
-			}
+			NavigationServer3D::get_singleton()->region_set_map(region, RID());
 
 			if (debug_view) {
 				debug_view->queue_delete();
 				debug_view = nullptr;
 			}
-			navigation = nullptr;
 		} break;
 	}
 }
@@ -198,19 +191,7 @@ String NavigationRegion3D::get_configuration_warning() const {
 		warning += TTR("A NavigationMesh resource must be set or created for this node to work.");
 	}
 
-	const Node3D *c = this;
-	while (c) {
-		if (Object::cast_to<Navigation3D>(c)) {
-			return warning;
-		}
-
-		c = Object::cast_to<Node3D>(c->get_parent());
-	}
-
-	if (!warning.is_empty()) {
-		warning += "\n\n";
-	}
-	return warning + TTR("NavigationRegion3D must be a child or grandchild to a Navigation3D node. It only provides navigation data.");
+	return warning;
 }
 
 void NavigationRegion3D::_bind_methods() {
@@ -220,11 +201,15 @@ void NavigationRegion3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationRegion3D::set_enabled);
 	ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationRegion3D::is_enabled);
 
+	ClassDB::bind_method(D_METHOD("set_layers", "layers"), &NavigationRegion3D::set_layers);
+	ClassDB::bind_method(D_METHOD("get_layers"), &NavigationRegion3D::get_layers);
+
 	ClassDB::bind_method(D_METHOD("bake_navigation_mesh"), &NavigationRegion3D::bake_navigation_mesh);
 	ClassDB::bind_method(D_METHOD("_bake_finished", "nav_mesh"), &NavigationRegion3D::_bake_finished);
 
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "navmesh", PROPERTY_HINT_RESOURCE_TYPE, "NavigationMesh"), "set_navigation_mesh", "get_navigation_mesh");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_layers", "get_layers");
 
 	ADD_SIGNAL(MethodInfo("navigation_mesh_changed"));
 	ADD_SIGNAL(MethodInfo("bake_finished"));
diff --git a/scene/3d/navigation_region_3d.h b/scene/3d/navigation_region_3d.h
index 6ae15c9360..52fa2d6159 100644
--- a/scene/3d/navigation_region_3d.h
+++ b/scene/3d/navigation_region_3d.h
@@ -35,8 +35,6 @@
 #include "scene/resources/mesh.h"
 #include "scene/resources/navigation_mesh.h"
 
-class Navigation3D;
-
 class NavigationRegion3D : public Node3D {
 	GDCLASS(NavigationRegion3D, Node3D);
 
@@ -44,7 +42,6 @@ class NavigationRegion3D : public Node3D {
 	RID region;
 	Ref<NavigationMesh> navmesh;
 
-	Navigation3D *navigation = nullptr;
 	Node *debug_view = nullptr;
 	Thread bake_thread;
 
@@ -58,6 +55,9 @@ public:
 	void set_enabled(bool p_enabled);
 	bool is_enabled() const;
 
+	void set_layers(uint32_t p_layers);
+	uint32_t get_layers() const;
+
 	void set_navigation_mesh(const Ref<NavigationMesh> &p_navmesh);
 	Ref<NavigationMesh> get_navigation_mesh() const;