1 files changed, 54 insertions, 11 deletions

diff --git a/scene/3d/navigation_obstacle_3d.cpp b/scene/3d/navigation_obstacle_3d.cpp
index 20ffc3b00e..f9fff802e0 100644
--- a/scene/3d/navigation_obstacle_3d.cpp
+++ b/scene/3d/navigation_obstacle_3d.cpp
@@ -35,19 +35,41 @@
 #include "servers/navigation_server_3d.h"
 
 void NavigationObstacle3D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle3D::set_estimate_radius);
+	ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle3D::is_radius_estimated);
+	ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle3D::set_radius);
+	ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle3D::get_radius);
+
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_radius", "get_radius");
+}
+
+void NavigationObstacle3D::_validate_property(PropertyInfo &p_property) const {
+	if (p_property.name == "radius") {
+		if (estimate_radius) {
+			p_property.usage = PROPERTY_USAGE_NO_EDITOR;
+		}
+	}
 }
 
 void NavigationObstacle3D::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_READY: {
+			initialize_agent();
+			parent_node3d = Object::cast_to<Node3D>(get_parent());
+			if (parent_node3d != nullptr) {
+				// place agent on navigation map first or else the RVO agent callback creation fails silently later
+				NavigationServer3D::get_singleton()->agent_set_map(get_rid(), parent_node3d->get_world_3d()->get_navigation_map());
+			}
 			set_physics_process_internal(true);
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
+			parent_node3d = nullptr;
 			set_physics_process_internal(false);
 		} break;
 		case NOTIFICATION_PARENTED: {
 			parent_node3d = Object::cast_to<Node3D>(get_parent());
-			update_agent_shape();
+			reevaluate_agent_radius();
 		} break;
 		case NOTIFICATION_UNPARENTED: {
 			parent_node3d = nullptr;
@@ -86,7 +108,22 @@ TypedArray<String> NavigationObstacle3D::get_configuration_warnings() const {
 	return warnings;
 }
 
-void NavigationObstacle3D::update_agent_shape() {
+void NavigationObstacle3D::initialize_agent() {
+	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_max_speed(agent, 0.0);
+}
+
+void NavigationObstacle3D::reevaluate_agent_radius() {
+	if (!estimate_radius) {
+		NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
+	} else if (parent_node3d) {
+		NavigationServer3D::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
+	}
+}
+
+real_t NavigationObstacle3D::estimate_agent_radius() const {
 	if (parent_node3d) {
 		// Estimate the radius of this physics body
 		real_t radius = 0.0;
@@ -110,15 +147,21 @@ void NavigationObstacle3D::update_agent_shape() {
 		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) {
+			return 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);
 	}
+	return 1.0; // Never a 0 radius
+}
+
+void NavigationObstacle3D::set_estimate_radius(bool p_estimate_radius) {
+	estimate_radius = p_estimate_radius;
+	notify_property_list_changed();
+	reevaluate_agent_radius();
+}
+
+void NavigationObstacle3D::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();
 }