Add NavigationPathQuery

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

10 files changed, 705 insertions, 0 deletions

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