2 files changed, 70 insertions, 12 deletions

diff --git a/scene/2d/navigation_obstacle_2d.cpp b/scene/2d/navigation_obstacle_2d.cpp
index 0a105826c0..4cfc7fe89e 100644
--- a/scene/2d/navigation_obstacle_2d.cpp
+++ b/scene/2d/navigation_obstacle_2d.cpp
@@ -34,19 +34,41 @@
 #include "servers/navigation_server_2d.h"
 
 void NavigationObstacle2D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle2D::set_estimate_radius);
+	ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle2D::is_radius_estimated);
+	ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle2D::set_radius);
+	ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle2D::get_radius);
+
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,500,0.01"), "set_radius", "get_radius");
+}
+
+void NavigationObstacle2D::_validate_property(PropertyInfo &p_property) const {
+	if (p_property.name == "radius") {
+		if (estimate_radius) {
+			p_property.usage = PROPERTY_USAGE_NOEDITOR;
+		}
+	}
 }
 
 void NavigationObstacle2D::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_READY: {
+			initialize_agent();
+			parent_node2d = Object::cast_to<Node2D>(get_parent());
+			if (parent_node2d != 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(), parent_node2d->get_world_2d()->get_navigation_map());
+			}
 			set_physics_process_internal(true);
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
+			parent_node2d = nullptr;
 			set_physics_process_internal(false);
 		} break;
 		case NOTIFICATION_PARENTED: {
 			parent_node2d = Object::cast_to<Node2D>(get_parent());
-			update_agent_shape();
+			reevaluate_agent_radius();
 		} break;
 		case NOTIFICATION_UNPARENTED: {
 			parent_node2d = nullptr;
@@ -78,7 +100,22 @@ TypedArray<String> NavigationObstacle2D::get_configuration_warnings() const {
 	return warnings;
 }
 
-void NavigationObstacle2D::update_agent_shape() {
+void NavigationObstacle2D::initialize_agent() {
+	NavigationServer2D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
+	NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, 0);
+	NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, 0.0);
+	NavigationServer2D::get_singleton()->agent_set_max_speed(agent, 0.0);
+}
+
+void NavigationObstacle2D::reevaluate_agent_radius() {
+	if (!estimate_radius) {
+		NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
+	} else if (parent_node2d) {
+		NavigationServer2D::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
+	}
+}
+
+real_t NavigationObstacle2D::estimate_agent_radius() const {
 	if (parent_node2d) {
 		// Estimate the radius of this physics body
 		real_t radius = 0.0;
@@ -101,15 +138,21 @@ void NavigationObstacle2D::update_agent_shape() {
 		Vector2 s = parent_node2d->get_global_scale();
 		radius *= MAX(s.x, s.y);
 
-		if (radius == 0.0) {
-			radius = 1.0; // Never a 0 radius
+		if (radius > 0.0) {
+			return radius;
 		}
-
-		// Initialize the Agent as an object
-		NavigationServer2D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
-		NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, 0);
-		NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, 0.0);
-		NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
-		NavigationServer2D::get_singleton()->agent_set_max_speed(agent, 0.0);
 	}
+	return 1.0; // Never a 0 radius
+}
+
+void NavigationObstacle2D::set_estimate_radius(bool p_estimate_radius) {
+	estimate_radius = p_estimate_radius;
+	notify_property_list_changed();
+	reevaluate_agent_radius();
+}
+
+void NavigationObstacle2D::set_radius(real_t p_radius) {
+	ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
+	radius = p_radius;
+	reevaluate_agent_radius();
 }
diff --git a/scene/2d/navigation_obstacle_2d.h b/scene/2d/navigation_obstacle_2d.h
index 9cffc2c0c3..a5603f059f 100644
--- a/scene/2d/navigation_obstacle_2d.h
+++ b/scene/2d/navigation_obstacle_2d.h
@@ -40,8 +40,12 @@ class NavigationObstacle2D : public Node {
 	Node2D *parent_node2d = nullptr;
 	RID agent;
 
+	bool estimate_radius = true;
+	real_t radius = 1.0;
+
 protected:
 	static void _bind_methods();
+	void _validate_property(PropertyInfo &p_property) const override;
 	void _notification(int p_what);
 
 public:
@@ -52,10 +56,21 @@ public:
 		return agent;
 	}
 
+	void set_estimate_radius(bool p_estimate_radius);
+	bool is_radius_estimated() const {
+		return estimate_radius;
+	}
+	void set_radius(real_t p_radius);
+	real_t get_radius() const {
+		return radius;
+	}
+
 	TypedArray<String> get_configuration_warnings() const override;
 
 private:
-	void update_agent_shape();
+	void initialize_agent();
+	void reevaluate_agent_radius();
+	real_t estimate_agent_radius() const;
 };
 
 #endif