5 files changed, 48 insertions, 7 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
index d16d41b438..42aad77979 100644
--- a/modules/navigation/godot_navigation_server.cpp
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -233,6 +233,38 @@ RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3
 	return map->get_closest_point_owner(p_point);
 }
 
+Array GodotNavigationServer::map_get_regions(RID p_map) const {
+	Array regions_rids;
+	const NavMap *map = map_owner.get_or_null(p_map);
+	ERR_FAIL_COND_V(map == nullptr, regions_rids);
+	for (NavRegion *region : map->get_regions()) {
+		regions_rids.push_back(region->get_self());
+	}
+	return regions_rids;
+}
+
+Array GodotNavigationServer::map_get_agents(RID p_map) const {
+	Array agents_rids;
+	const NavMap *map = map_owner.get_or_null(p_map);
+	ERR_FAIL_COND_V(map == nullptr, agents_rids);
+	for (RvoAgent *agent : map->get_agents()) {
+		agents_rids.push_back(agent->get_self());
+	}
+	return agents_rids;
+}
+
+RID GodotNavigationServer::region_get_map(RID p_region) const {
+	NavRegion *region = region_owner.get_or_null(p_region);
+	ERR_FAIL_COND_V(region == nullptr, RID());
+	return region->get_map()->get_self();
+}
+
+RID GodotNavigationServer::agent_get_map(RID p_agent) const {
+	RvoAgent *agent = agent_owner.get_or_null(p_agent);
+	ERR_FAIL_COND_V(agent == nullptr, RID());
+	return agent->get_map()->get_self();
+}
+
 RID GodotNavigationServer::region_create() const {
 	GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
 	MutexLock lock(mut_this->operations_mutex);
diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h
index 7ad5e2d501..89e7311e51 100644
--- a/modules/navigation/godot_navigation_server.h
+++ b/modules/navigation/godot_navigation_server.h
@@ -105,8 +105,12 @@ public:
 	virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const override;
 	virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const override;
 
+	virtual Array map_get_regions(RID p_map) const override;
+	virtual Array map_get_agents(RID p_map) const override;
+
 	virtual RID region_create() const override;
 	COMMAND_2(region_set_map, RID, p_region, RID, p_map);
+	virtual RID region_get_map(RID p_region) const override;
 	COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers);
 	virtual uint32_t region_get_layers(RID p_region) const override;
 	COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform);
@@ -118,6 +122,7 @@ public:
 
 	virtual RID agent_create() const override;
 	COMMAND_2(agent_set_map, RID, p_agent, RID, p_map);
+	virtual RID agent_get_map(RID p_agent) const override;
 	COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist);
 	COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count);
 	COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time);
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index cbc0adc574..344475fb37 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -541,7 +541,7 @@ void NavMap::sync() {
 		}
 
 		// Group all edges per key.
-		Map<gd::EdgeKey, Vector<gd::Edge::Connection>> connections;
+		HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey> connections;
 		for (size_t poly_id(0); poly_id < polygons.size(); poly_id++) {
 			gd::Polygon &poly(polygons[poly_id]);
 
@@ -549,7 +549,7 @@ void NavMap::sync() {
 				int next_point = (p + 1) % poly.points.size();
 				gd::EdgeKey ek(poly.points[p].key, poly.points[next_point].key);
 
-				Map<gd::EdgeKey, Vector<gd::Edge::Connection>>::Element *connection = connections.find(ek);
+				HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey>::Iterator connection = connections.find(ek);
 				if (!connection) {
 					connections[ek] = Vector<gd::Edge::Connection>();
 				}
diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
index 5232e42bed..0ebdea30e1 100644
--- a/modules/navigation/nav_map.h
+++ b/modules/navigation/nav_map.h
@@ -34,7 +34,7 @@
 #include "nav_rid.h"
 
 #include "core/math/math_defs.h"
-#include "core/templates/map.h"
+#include "core/templates/rb_map.h"
 #include "core/templates/thread_work_pool.h"
 #include "nav_utils.h"
 
diff --git a/modules/navigation/nav_utils.h b/modules/navigation/nav_utils.h
index 5b6c695ca4..a9f4e0e2fc 100644
--- a/modules/navigation/nav_utils.h
+++ b/modules/navigation/nav_utils.h
@@ -32,8 +32,9 @@
 #define NAV_UTILS_H
 
 #include "core/math/vector3.h"
+#include "core/templates/hash_map.h"
+#include "core/templates/hashfuncs.h"
 #include "core/templates/vector.h"
-
 #include <vector>
 
 class NavRegion;
@@ -49,15 +50,18 @@ union PointKey {
 	};
 
 	uint64_t key = 0;
-	bool operator<(const PointKey &p_key) const { return key < p_key.key; }
 };
 
 struct EdgeKey {
 	PointKey a;
 	PointKey b;
 
-	bool operator<(const EdgeKey &p_key) const {
-		return (a.key == p_key.a.key) ? (b.key < p_key.b.key) : (a.key < p_key.a.key);
+	static uint32_t hash(const EdgeKey &p_val) {
+		return hash_one_uint64(p_val.a.key) ^ hash_one_uint64(p_val.b.key);
+	}
+
+	bool operator==(const EdgeKey &p_key) const {
+		return (a.key == p_key.a.key) && (b.key == p_key.b.key);
 	}
 
 	EdgeKey(const PointKey &p_a = PointKey(), const PointKey &p_b = PointKey()) :