1 files changed, 77 insertions, 18 deletions

diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp
index 00082b321e..e2ab4f7538 100644
--- a/scene/2d/navigation_agent_2d.cpp
+++ b/scene/2d/navigation_agent_2d.cpp
@@ -61,8 +61,11 @@ void NavigationAgent2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent2D::set_path_max_distance);
 	ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent2D::get_path_max_distance);
 
-	ClassDB::bind_method(D_METHOD("set_navigable_layers", "navigable_layers"), &NavigationAgent2D::set_navigable_layers);
-	ClassDB::bind_method(D_METHOD("get_navigable_layers"), &NavigationAgent2D::get_navigable_layers);
+	ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent2D::set_navigation_layers);
+	ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent2D::get_navigation_layers);
+
+	ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent2D::set_navigation_map);
+	ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent2D::get_navigation_map);
 
 	ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent2D::set_target_location);
 	ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent2D::get_target_location);
@@ -86,7 +89,7 @@ void NavigationAgent2D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,100000,0.01,suffix:px/s"), "set_max_speed", "get_max_speed");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "10,100,1,suffix:px"), "set_path_max_distance", "get_path_max_distance");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
-	ADD_PROPERTY(PropertyInfo(Variant::INT, "navigable_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigable_layers", "get_navigable_layers");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
 
 	ADD_SIGNAL(MethodInfo("path_changed"));
 	ADD_SIGNAL(MethodInfo("target_reached"));
@@ -96,16 +99,30 @@ void NavigationAgent2D::_bind_methods() {
 
 void NavigationAgent2D::_notification(int p_what) {
 	switch (p_what) {
-		case NOTIFICATION_READY: {
-			agent_parent = Object::cast_to<Node2D>(get_parent());
-			if (agent_parent != nullptr) {
-				// place agent on navigation map first or else the RVO agent callback creation fails silently later
-				NavigationServer2D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_2d()->get_navigation_map());
-				set_avoidance_enabled(avoidance_enabled);
-			}
+		case NOTIFICATION_POST_ENTER_TREE: {
+			// need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready.
+			// cannot use READY as ready does not get called if Node is readded to SceneTree
+			set_agent_parent(get_parent());
 			set_physics_process_internal(true);
 		} break;
 
+		case NOTIFICATION_PARENTED: {
+			if (is_inside_tree() && (get_parent() != agent_parent)) {
+				// only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around
+				// PARENTED notification fires also when Node is added in scripts to a parent
+				// this would spam transforms fails and world fails while Node is outside SceneTree
+				// when node gets reparented when joining the tree POST_ENTER_TREE takes care of this
+				set_agent_parent(get_parent());
+				set_physics_process_internal(true);
+			}
+		} break;
+
+		case NOTIFICATION_UNPARENTED: {
+			// if agent has no parent no point in processing it until reparented
+			set_agent_parent(nullptr);
+			set_physics_process_internal(false);
+		} break;
+
 		case NOTIFICATION_PAUSED: {
 			if (agent_parent && !agent_parent->can_process()) {
 				map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid());
@@ -133,7 +150,11 @@ void NavigationAgent2D::_notification(int p_what) {
 
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
 			if (agent_parent) {
-				NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
+				if (avoidance_enabled) {
+					// agent_position on NavigationServer is avoidance only and has nothing to do with pathfinding
+					// no point in flooding NavigationServer queue with agent position updates that get send to the void if avoidance is not used
+					NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
+				}
 				_check_distance_to_target();
 			}
 		} break;
@@ -167,16 +188,50 @@ bool NavigationAgent2D::get_avoidance_enabled() const {
 	return avoidance_enabled;
 }
 
-void NavigationAgent2D::set_navigable_layers(uint32_t p_layers) {
-	bool layers_changed = navigable_layers != p_layers;
-	navigable_layers = p_layers;
-	if (layers_changed) {
+void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) {
+	// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
+	NavigationServer2D::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done");
+	if (Object::cast_to<Node2D>(p_agent_parent) != nullptr) {
+		// place agent on navigation map first or else the RVO agent callback creation fails silently later
+		agent_parent = Object::cast_to<Node2D>(p_agent_parent);
+		if (map_override.is_valid()) {
+			NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_override);
+		} else {
+			NavigationServer2D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_2d()->get_navigation_map());
+		}
+		// create new avoidance callback if enabled
+		set_avoidance_enabled(avoidance_enabled);
+	} else {
+		agent_parent = nullptr;
+		NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
+	}
+}
+
+void NavigationAgent2D::set_navigation_layers(uint32_t p_navigation_layers) {
+	bool navigation_layers_changed = navigation_layers != p_navigation_layers;
+	navigation_layers = p_navigation_layers;
+	if (navigation_layers_changed) {
 		_request_repath();
 	}
 }
 
-uint32_t NavigationAgent2D::get_navigable_layers() const {
-	return navigable_layers;
+uint32_t NavigationAgent2D::get_navigation_layers() const {
+	return navigation_layers;
+}
+
+void NavigationAgent2D::set_navigation_map(RID p_navigation_map) {
+	map_override = p_navigation_map;
+	NavigationServer2D::get_singleton()->agent_set_map(agent, map_override);
+	_request_repath();
+}
+
+RID NavigationAgent2D::get_navigation_map() const {
+	if (map_override.is_valid()) {
+		return map_override;
+	} else if (agent_parent != nullptr) {
+		return agent_parent->get_world_2d()->get_navigation_map();
+	}
+	return RID();
 }
 
 void NavigationAgent2D::set_target_desired_distance(real_t p_dd) {
@@ -327,7 +382,11 @@ void NavigationAgent2D::update_navigation() {
 	}
 
 	if (reload_path) {
-		navigation_path = NavigationServer2D::get_singleton()->map_get_path(agent_parent->get_world_2d()->get_navigation_map(), o, target_location, true, navigable_layers);
+		if (map_override.is_valid()) {
+			navigation_path = NavigationServer2D::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers);
+		} else {
+			navigation_path = NavigationServer2D::get_singleton()->map_get_path(agent_parent->get_world_2d()->get_navigation_map(), o, target_location, true, navigation_layers);
+		}
 		navigation_finished = false;
 		nav_path_index = 0;
 		emit_signal(SNAME("path_changed"));