4 files changed, 49 insertions, 0 deletions
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 3730070b16..7d404ffa07 100644
--- a/scene/3d/navigation_agent_3d.cpp
+++ b/scene/3d/navigation_agent_3d.cpp
@@ -75,6 +75,12 @@ void NavigationAgent3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent3D::set_navigation_layer_value);
 	ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent3D::get_navigation_layer_value);
 
+	ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent3D::set_pathfinding_algorithm);
+	ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent3D::get_pathfinding_algorithm);
+
+	ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent3D::set_path_postprocessing);
+	ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent3D::get_path_postprocessing);
+
 	ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent3D::set_path_metadata_flags);
 	ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent3D::get_path_metadata_flags);
 
@@ -104,6 +110,8 @@ void NavigationAgent3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01,or_greater,suffix:m"), "set_agent_height_offset", "get_agent_height_offset");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1,or_greater,suffix:m"), "set_path_max_distance", "get_path_max_distance");
 	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");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
 
 	ADD_GROUP("Avoidance", "");
@@ -335,6 +343,26 @@ bool NavigationAgent3D::get_navigation_layer_value(int p_layer_number) const {
 	return get_navigation_layers() & (1 << (p_layer_number - 1));
 }
 
+void NavigationAgent3D::set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm) {
+	if (pathfinding_algorithm == p_pathfinding_algorithm) {
+		return;
+	}
+
+	pathfinding_algorithm = p_pathfinding_algorithm;
+
+	navigation_query->set_pathfinding_algorithm(pathfinding_algorithm);
+}
+
+void NavigationAgent3D::set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing) {
+	if (path_postprocessing == p_path_postprocessing) {
+		return;
+	}
+
+	path_postprocessing = p_path_postprocessing;
+
+	navigation_query->set_path_postprocessing(path_postprocessing);
+}
+
 void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_path_metadata_flags) {
 	if (path_metadata_flags == p_path_metadata_flags) {
 		return;
diff --git a/scene/3d/navigation_agent_3d.h b/scene/3d/navigation_agent_3d.h
index cde826ed5c..16d702f9a5 100644
--- a/scene/3d/navigation_agent_3d.h
+++ b/scene/3d/navigation_agent_3d.h
@@ -48,6 +48,8 @@ class NavigationAgent3D : public Node {
 
 	bool avoidance_enabled = false;
 	uint32_t navigation_layers = 1;
+	NavigationPathQueryParameters3D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters3D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+	NavigationPathQueryParameters3D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
 	BitField<NavigationPathQueryParameters3D::PathMetadataFlags> path_metadata_flags = NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL;
 
 	real_t path_desired_distance = 1.0;
@@ -116,6 +118,16 @@ public:
 	void set_navigation_layer_value(int p_layer_number, bool p_value);
 	bool get_navigation_layer_value(int p_layer_number) const;
 
+	void set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm);
+	NavigationPathQueryParameters3D::PathfindingAlgorithm get_pathfinding_algorithm() const {
+		return pathfinding_algorithm;
+	}
+
+	void set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing);
+	NavigationPathQueryParameters3D::PathPostProcessing get_path_postprocessing() const {
+		return path_postprocessing;
+	}
+
 	void set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_flags);
 	BitField<NavigationPathQueryParameters3D::PathMetadataFlags> get_path_metadata_flags() const {
 		return path_metadata_flags;
diff --git a/scene/3d/navigation_obstacle_3d.cpp b/scene/3d/navigation_obstacle_3d.cpp
index 85b3c164cc..14d93fb0e0 100644
--- a/scene/3d/navigation_obstacle_3d.cpp
+++ b/scene/3d/navigation_obstacle_3d.cpp
@@ -203,13 +203,20 @@ void NavigationObstacle3D::set_agent_parent(Node *p_agent_parent) {
 		} else {
 			NavigationServer3D::get_singleton()->agent_set_map(get_rid(), parent_node3d->get_world_3d()->get_navigation_map());
 		}
+		// Need to register Callback as obstacle requires a valid Callback to be added to avoidance simulation.
+		NavigationServer3D::get_singleton()->agent_set_callback(get_rid(), callable_mp(this, &NavigationObstacle3D::_avoidance_done));
 		reevaluate_agent_radius();
 	} else {
 		parent_node3d = nullptr;
 		NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
+		NavigationServer3D::get_singleton()->agent_set_callback(agent, Callable());
 	}
 }
 
+void NavigationObstacle3D::_avoidance_done(Vector3 p_new_velocity) {
+	// Dummy function as obstacle requires a valid Callback to be added to avoidance simulation.
+}
+
 void NavigationObstacle3D::set_navigation_map(RID p_navigation_map) {
 	if (map_override == p_navigation_map) {
 		return;
diff --git a/scene/3d/navigation_obstacle_3d.h b/scene/3d/navigation_obstacle_3d.h
index 416b32c026..c5a9d737f6 100644
--- a/scene/3d/navigation_obstacle_3d.h
+++ b/scene/3d/navigation_obstacle_3d.h
@@ -74,6 +74,8 @@ public:
 
 	PackedStringArray get_configuration_warnings() const override;
 
+	void _avoidance_done(Vector3 p_new_velocity); // Dummy
+
 private:
 	void initialize_agent();
 	void reevaluate_agent_radius();