path: root/servers/navigation_server_2d.cpp

/**************************************************************************/
/*  navigation_server_2d.cpp                                              */
/**************************************************************************/
/*                         This file is part of:                          */
/*                             GODOT ENGINE                               */
/*                        https://godotengine.org                         */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
/*                                                                        */
/* Permission is hereby granted, free of charge, to any person obtaining  */
/* a copy of this software and associated documentation files (the        */
/* "Software"), to deal in the Software without restriction, including    */
/* without limitation the rights to use, copy, modify, merge, publish,    */
/* distribute, sublicense, and/or sell copies of the Software, and to     */
/* permit persons to whom the Software is furnished to do so, subject to  */
/* the following conditions:                                              */
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/* The above copyright notice and this permission notice shall be         */
/* included in all copies or substantial portions of the Software.        */
/*                                                                        */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
/**************************************************************************/

#include "servers/navigation_server_2d.h"

#include "core/math/transform_2d.h"
#include "core/math/transform_3d.h"
#include "servers/navigation_server_3d.h"

NavigationServer2D *NavigationServer2D::singleton = nullptr;

#define FORWARD_0_C(FUNC_NAME)                                   \
	NavigationServer2D::FUNC_NAME()                              \
			const {                                              \
		return NavigationServer3D::get_singleton()->FUNC_NAME(); \
	}

#define FORWARD_1(FUNC_NAME, T_0, D_0, CONV_0)                                  \
	NavigationServer2D::FUNC_NAME(T_0 D_0) {                                    \
		return NavigationServer3D::get_singleton_mut()->FUNC_NAME(CONV_0(D_0)); \
	}

#define FORWARD_1_C(FUNC_NAME, T_0, D_0, CONV_0)                            \
	NavigationServer2D::FUNC_NAME(T_0 D_0)                                  \
			const {                                                         \
		return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0)); \
	}

#define FORWARD_1_R_C(CONV_R, FUNC_NAME, T_0, D_0, CONV_0)                          \
	NavigationServer2D::FUNC_NAME(T_0 D_0)                                          \
			const {                                                                 \
		return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0))); \
	}

#define FORWARD_2_C(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1)                       \
	NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1)                                      \
			const {                                                                      \
		return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \
	}

#define FORWARD_2_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1)                     \
	NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1)                                              \
			const {                                                                              \
		return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1))); \
	}

#define FORWARD_4_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, CONV_0, CONV_1, CONV_2, CONV_3)           \
	NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)                                                      \
			const {                                                                                                        \
		return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3))); \
	}

#define FORWARD_4_C(FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, CONV_0, CONV_1, CONV_2, CONV_3)             \
	NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)                                              \
			const {                                                                                                \
		return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3)); \
	}

#define FORWARD_5_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, T_4, D_4, CONV_0, CONV_1, CONV_2, CONV_3, CONV_4)      \
	NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3, T_4 D_4)                                                          \
			const {                                                                                                                     \
		return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3), CONV_4(D_4))); \
	}

#define FORWARD_5_C(FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, T_4, D_4, CONV_0, CONV_1, CONV_2, CONV_3, CONV_4)        \
	NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3, T_4 D_4)                                                  \
			const {                                                                                                             \
		return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3), CONV_4(D_4)); \
	}

static RID rid_to_rid(const RID d) {
	return d;
}

static bool bool_to_bool(const bool d) {
	return d;
}

static int int_to_int(const int d) {
	return d;
}

static uint32_t uint32_to_uint32(const uint32_t d) {
	return d;
}

static real_t real_to_real(const real_t d) {
	return d;
}

static Vector3 v2_to_v3(const Vector2 d) {
	return Vector3(d.x, 0.0, d.y);
}

static Vector2 v3_to_v2(const Vector3 &d) {
	return Vector2(d.x, d.z);
}

static Vector<Vector2> vector_v3_to_v2(const Vector<Vector3> &d) {
	Vector<Vector2> nd;
	nd.resize(d.size());
	for (int i(0); i < nd.size(); i++) {
		nd.write[i] = v3_to_v2(d[i]);
	}
	return nd;
}

static Transform3D trf2_to_trf3(const Transform2D &d) {
	Vector3 o(v2_to_v3(d.get_origin()));
	Basis b;
	b.rotate(Vector3(0, -1, 0), d.get_rotation());
	b.scale(v2_to_v3(d.get_scale()));
	return Transform3D(b, o);
}

static StringName sn_to_sn(const StringName &d) {
	return d;
}

static Variant var_to_var(const Variant &d) {
	return d;
}

static ObjectID id_to_id(const ObjectID &id) {
	return id;
}

static Ref<NavigationMesh> poly_to_mesh(Ref<NavigationPolygon> d) {
	if (d.is_valid()) {
		return d->get_navigation_mesh();
	} else {
		return Ref<NavigationMesh>();
	}
}

void NavigationServer2D::_emit_map_changed(RID p_map) {
	emit_signal(SNAME("map_changed"), p_map);
}

#ifdef DEBUG_ENABLED
void NavigationServer2D::set_debug_enabled(bool p_enabled) {
	NavigationServer3D::get_singleton_mut()->set_debug_enabled(p_enabled);
}
bool NavigationServer2D::get_debug_enabled() const {
	return NavigationServer3D::get_singleton()->get_debug_enabled();
}

void NavigationServer2D::set_debug_navigation_edge_connection_color(const Color &p_color) {
	NavigationServer3D::get_singleton_mut()->set_debug_navigation_edge_connection_color(p_color);
}

Color NavigationServer2D::get_debug_navigation_edge_connection_color() const {
	return NavigationServer3D::get_singleton()->get_debug_navigation_edge_connection_color();
}

void NavigationServer2D::set_debug_navigation_geometry_face_color(const Color &p_color) {
	NavigationServer3D::get_singleton_mut()->set_debug_navigation_geometry_face_color(p_color);
}

Color NavigationServer2D::get_debug_navigation_geometry_face_color() const {
	return NavigationServer3D::get_singleton()->get_debug_navigation_geometry_face_color();
}

void NavigationServer2D::set_debug_navigation_geometry_face_disabled_color(const Color &p_color) {
	NavigationServer3D::get_singleton_mut()->set_debug_navigation_geometry_face_disabled_color(p_color);
}

Color NavigationServer2D::get_debug_navigation_geometry_face_disabled_color() const {
	return NavigationServer3D::get_singleton()->get_debug_navigation_geometry_face_disabled_color();
}

void NavigationServer2D::set_debug_navigation_link_connection_color(const Color &p_color) {
	NavigationServer3D::get_singleton_mut()->set_debug_navigation_link_connection_color(p_color);
}

Color NavigationServer2D::get_debug_navigation_link_connection_color() const {
	return NavigationServer3D::get_singleton()->get_debug_navigation_link_connection_color();
}

void NavigationServer2D::set_debug_navigation_link_connection_disabled_color(const Color &p_color) {
	NavigationServer3D::get_singleton_mut()->set_debug_navigation_link_connection_disabled_color(p_color);
}

Color NavigationServer2D::get_debug_navigation_link_connection_disabled_color() const {
	return NavigationServer3D::get_singleton()->get_debug_navigation_link_connection_disabled_color();
}

void NavigationServer2D::set_debug_navigation_enable_edge_connections(const bool p_value) {
	NavigationServer3D::get_singleton_mut()->set_debug_navigation_enable_edge_connections(p_value);
}

bool NavigationServer2D::get_debug_navigation_enable_edge_connections() const {
	return NavigationServer3D::get_singleton()->get_debug_navigation_enable_edge_connections();
}
#endif // DEBUG_ENABLED

void NavigationServer2D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("get_maps"), &NavigationServer2D::get_maps);

	ClassDB::bind_method(D_METHOD("map_create"), &NavigationServer2D::map_create);
	ClassDB::bind_method(D_METHOD("map_set_active", "map", "active"), &NavigationServer2D::map_set_active);
	ClassDB::bind_method(D_METHOD("map_is_active", "map"), &NavigationServer2D::map_is_active);
	ClassDB::bind_method(D_METHOD("map_set_cell_size", "map", "cell_size"), &NavigationServer2D::map_set_cell_size);
	ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer2D::map_get_cell_size);
	ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer2D::map_set_edge_connection_margin);
	ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer2D::map_get_edge_connection_margin);
	ClassDB::bind_method(D_METHOD("map_set_link_connection_radius", "map", "radius"), &NavigationServer2D::map_set_link_connection_radius);
	ClassDB::bind_method(D_METHOD("map_get_link_connection_radius", "map"), &NavigationServer2D::map_get_link_connection_radius);
	ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "navigation_layers"), &NavigationServer2D::map_get_path, DEFVAL(1));
	ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer2D::map_get_closest_point);
	ClassDB::bind_method(D_METHOD("map_get_closest_point_owner", "map", "to_point"), &NavigationServer2D::map_get_closest_point_owner);

	ClassDB::bind_method(D_METHOD("map_get_links", "map"), &NavigationServer2D::map_get_links);
	ClassDB::bind_method(D_METHOD("map_get_regions", "map"), &NavigationServer2D::map_get_regions);
	ClassDB::bind_method(D_METHOD("map_get_agents", "map"), &NavigationServer2D::map_get_agents);

	ClassDB::bind_method(D_METHOD("map_force_update", "map"), &NavigationServer2D::map_force_update);

	ClassDB::bind_method(D_METHOD("query_path", "parameters", "result"), &NavigationServer2D::query_path);

	ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer2D::region_create);
	ClassDB::bind_method(D_METHOD("region_set_enter_cost", "region", "enter_cost"), &NavigationServer2D::region_set_enter_cost);
	ClassDB::bind_method(D_METHOD("region_get_enter_cost", "region"), &NavigationServer2D::region_get_enter_cost);
	ClassDB::bind_method(D_METHOD("region_set_travel_cost", "region", "travel_cost"), &NavigationServer2D::region_set_travel_cost);
	ClassDB::bind_method(D_METHOD("region_get_travel_cost", "region"), &NavigationServer2D::region_get_travel_cost);
	ClassDB::bind_method(D_METHOD("region_set_owner_id", "region", "owner_id"), &NavigationServer2D::region_set_owner_id);
	ClassDB::bind_method(D_METHOD("region_get_owner_id", "region"), &NavigationServer2D::region_get_owner_id);
	ClassDB::bind_method(D_METHOD("region_owns_point", "region", "point"), &NavigationServer2D::region_owns_point);
	ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &NavigationServer2D::region_set_map);
	ClassDB::bind_method(D_METHOD("region_get_map", "region"), &NavigationServer2D::region_get_map);
	ClassDB::bind_method(D_METHOD("region_set_navigation_layers", "region", "navigation_layers"), &NavigationServer2D::region_set_navigation_layers);
	ClassDB::bind_method(D_METHOD("region_get_navigation_layers", "region"), &NavigationServer2D::region_get_navigation_layers);
	ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &NavigationServer2D::region_set_transform);
	ClassDB::bind_method(D_METHOD("region_set_navigation_polygon", "region", "navigation_polygon"), &NavigationServer2D::region_set_navigation_polygon);
	ClassDB::bind_method(D_METHOD("region_get_connections_count", "region"), &NavigationServer2D::region_get_connections_count);
	ClassDB::bind_method(D_METHOD("region_get_connection_pathway_start", "region", "connection"), &NavigationServer2D::region_get_connection_pathway_start);
	ClassDB::bind_method(D_METHOD("region_get_connection_pathway_end", "region", "connection"), &NavigationServer2D::region_get_connection_pathway_end);

	ClassDB::bind_method(D_METHOD("link_create"), &NavigationServer2D::link_create);
	ClassDB::bind_method(D_METHOD("link_set_map", "link", "map"), &NavigationServer2D::link_set_map);
	ClassDB::bind_method(D_METHOD("link_get_map", "link"), &NavigationServer2D::link_get_map);
	ClassDB::bind_method(D_METHOD("link_set_bidirectional", "link", "bidirectional"), &NavigationServer2D::link_set_bidirectional);
	ClassDB::bind_method(D_METHOD("link_is_bidirectional", "link"), &NavigationServer2D::link_is_bidirectional);
	ClassDB::bind_method(D_METHOD("link_set_navigation_layers", "link", "navigation_layers"), &NavigationServer2D::link_set_navigation_layers);
	ClassDB::bind_method(D_METHOD("link_get_navigation_layers", "link"), &NavigationServer2D::link_get_navigation_layers);
	ClassDB::bind_method(D_METHOD("link_set_start_location", "link", "location"), &NavigationServer2D::link_set_start_location);
	ClassDB::bind_method(D_METHOD("link_get_start_location", "link"), &NavigationServer2D::link_get_start_location);
	ClassDB::bind_method(D_METHOD("link_set_end_location", "link", "location"), &NavigationServer2D::link_set_end_location);
	ClassDB::bind_method(D_METHOD("link_get_end_location", "link"), &NavigationServer2D::link_get_end_location);
	ClassDB::bind_method(D_METHOD("link_set_enter_cost", "link", "enter_cost"), &NavigationServer2D::link_set_enter_cost);
	ClassDB::bind_method(D_METHOD("link_get_enter_cost", "link"), &NavigationServer2D::link_get_enter_cost);
	ClassDB::bind_method(D_METHOD("link_set_travel_cost", "link", "travel_cost"), &NavigationServer2D::link_set_travel_cost);
	ClassDB::bind_method(D_METHOD("link_get_travel_cost", "link"), &NavigationServer2D::link_get_travel_cost);
	ClassDB::bind_method(D_METHOD("link_set_owner_id", "link", "owner_id"), &NavigationServer2D::link_set_owner_id);
	ClassDB::bind_method(D_METHOD("link_get_owner_id", "link"), &NavigationServer2D::link_get_owner_id);

	ClassDB::bind_method(D_METHOD("agent_create"), &NavigationServer2D::agent_create);
	ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &NavigationServer2D::agent_set_map);
	ClassDB::bind_method(D_METHOD("agent_get_map", "agent"), &NavigationServer2D::agent_get_map);
	ClassDB::bind_method(D_METHOD("agent_set_neighbor_distance", "agent", "distance"), &NavigationServer2D::agent_set_neighbor_distance);
	ClassDB::bind_method(D_METHOD("agent_set_max_neighbors", "agent", "count"), &NavigationServer2D::agent_set_max_neighbors);
	ClassDB::bind_method(D_METHOD("agent_set_time_horizon", "agent", "time"), &NavigationServer2D::agent_set_time_horizon);
	ClassDB::bind_method(D_METHOD("agent_set_radius", "agent", "radius"), &NavigationServer2D::agent_set_radius);
	ClassDB::bind_method(D_METHOD("agent_set_max_speed", "agent", "max_speed"), &NavigationServer2D::agent_set_max_speed);
	ClassDB::bind_method(D_METHOD("agent_set_velocity", "agent", "velocity"), &NavigationServer2D::agent_set_velocity);
	ClassDB::bind_method(D_METHOD("agent_set_target_velocity", "agent", "target_velocity"), &NavigationServer2D::agent_set_target_velocity);
	ClassDB::bind_method(D_METHOD("agent_set_position", "agent", "position"), &NavigationServer2D::agent_set_position);
	ClassDB::bind_method(D_METHOD("agent_is_map_changed", "agent"), &NavigationServer2D::agent_is_map_changed);
	ClassDB::bind_method(D_METHOD("agent_set_callback", "agent", "object_id", "method", "userdata"), &NavigationServer2D::agent_set_callback, DEFVAL(Variant()));

	ClassDB::bind_method(D_METHOD("free_rid", "rid"), &NavigationServer2D::free);

	ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map")));
}

NavigationServer2D::NavigationServer2D() {
	singleton = this;
	ERR_FAIL_COND_MSG(!NavigationServer3D::get_singleton(), "The Navigation3D singleton should be initialized before the 2D one.");
	NavigationServer3D::get_singleton_mut()->connect("map_changed", callable_mp(this, &NavigationServer2D::_emit_map_changed));
}

NavigationServer2D::~NavigationServer2D() {
	singleton = nullptr;
}

TypedArray<RID> FORWARD_0_C(get_maps);

TypedArray<RID> FORWARD_1_C(map_get_links, RID, p_map, rid_to_rid);

TypedArray<RID> FORWARD_1_C(map_get_regions, RID, p_map, rid_to_rid);

TypedArray<RID> FORWARD_1_C(map_get_agents, RID, p_map, rid_to_rid);

RID FORWARD_1_C(region_get_map, RID, p_region, rid_to_rid);

RID FORWARD_1_C(agent_get_map, RID, p_agent, rid_to_rid);

RID FORWARD_0_C(map_create);

void FORWARD_2_C(map_set_active, RID, p_map, bool, p_active, rid_to_rid, bool_to_bool);

bool FORWARD_1_C(map_is_active, RID, p_map, rid_to_rid);

void NavigationServer2D::map_force_update(RID p_map) {
	NavigationServer3D::get_singleton_mut()->map_force_update(p_map);
}

void FORWARD_2_C(map_set_cell_size, RID, p_map, real_t, p_cell_size, rid_to_rid, real_to_real);
real_t FORWARD_1_C(map_get_cell_size, RID, p_map, rid_to_rid);

void FORWARD_2_C(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin, rid_to_rid, real_to_real);
real_t FORWARD_1_C(map_get_edge_connection_margin, RID, p_map, rid_to_rid);

void FORWARD_2_C(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius, rid_to_rid, real_to_real);
real_t FORWARD_1_C(map_get_link_connection_radius, RID, p_map, rid_to_rid);

Vector<Vector2> FORWARD_5_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2, p_origin, Vector2, p_destination, bool, p_optimize, uint32_t, p_layers, rid_to_rid, v2_to_v3, v2_to_v3, bool_to_bool, uint32_to_uint32);

Vector2 FORWARD_2_R_C(v3_to_v2, map_get_closest_point, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3);
RID FORWARD_2_C(map_get_closest_point_owner, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3);

RID FORWARD_0_C(region_create);

void FORWARD_2_C(region_set_enter_cost, RID, p_region, real_t, p_enter_cost, rid_to_rid, real_to_real);
real_t FORWARD_1_C(region_get_enter_cost, RID, p_region, rid_to_rid);
void FORWARD_2_C(region_set_travel_cost, RID, p_region, real_t, p_travel_cost, rid_to_rid, real_to_real);
real_t FORWARD_1_C(region_get_travel_cost, RID, p_region, rid_to_rid);
void FORWARD_2_C(region_set_owner_id, RID, p_region, ObjectID, p_owner_id, rid_to_rid, id_to_id);
ObjectID FORWARD_1_C(region_get_owner_id, RID, p_region, rid_to_rid);
bool FORWARD_2_C(region_owns_point, RID, p_region, const Vector2 &, p_point, rid_to_rid, v2_to_v3);

void FORWARD_2_C(region_set_map, RID, p_region, RID, p_map, rid_to_rid, rid_to_rid);
void FORWARD_2_C(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32);
uint32_t FORWARD_1_C(region_get_navigation_layers, RID, p_region, rid_to_rid);
void FORWARD_2_C(region_set_transform, RID, p_region, Transform2D, p_transform, rid_to_rid, trf2_to_trf3);

void NavigationServer2D::region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon) const {
	NavigationServer3D::get_singleton()->region_set_navigation_mesh(p_region, poly_to_mesh(p_navigation_polygon));
}

int FORWARD_1_C(region_get_connections_count, RID, p_region, rid_to_rid);
Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_start, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int);
Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_end, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int);

RID FORWARD_0_C(link_create);

void FORWARD_2_C(link_set_map, RID, p_link, RID, p_map, rid_to_rid, rid_to_rid);
RID FORWARD_1_C(link_get_map, RID, p_link, rid_to_rid);
void FORWARD_2_C(link_set_bidirectional, RID, p_link, bool, p_bidirectional, rid_to_rid, bool_to_bool);
bool FORWARD_1_C(link_is_bidirectional, RID, p_link, rid_to_rid);
void FORWARD_2_C(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32);
uint32_t FORWARD_1_C(link_get_navigation_layers, RID, p_link, rid_to_rid);
void FORWARD_2_C(link_set_start_location, RID, p_link, Vector2, p_location, rid_to_rid, v2_to_v3);
Vector2 FORWARD_1_R_C(v3_to_v2, link_get_start_location, RID, p_link, rid_to_rid);
void FORWARD_2_C(link_set_end_location, RID, p_link, Vector2, p_location, rid_to_rid, v2_to_v3);
Vector2 FORWARD_1_R_C(v3_to_v2, link_get_end_location, RID, p_link, rid_to_rid);
void FORWARD_2_C(link_set_enter_cost, RID, p_link, real_t, p_enter_cost, rid_to_rid, real_to_real);
real_t FORWARD_1_C(link_get_enter_cost, RID, p_link, rid_to_rid);
void FORWARD_2_C(link_set_travel_cost, RID, p_link, real_t, p_travel_cost, rid_to_rid, real_to_real);
real_t FORWARD_1_C(link_get_travel_cost, RID, p_link, rid_to_rid);
void FORWARD_2_C(link_set_owner_id, RID, p_link, ObjectID, p_owner_id, rid_to_rid, id_to_id);
ObjectID FORWARD_1_C(link_get_owner_id, RID, p_link, rid_to_rid);

RID NavigationServer2D::agent_create() const {
	RID agent = NavigationServer3D::get_singleton()->agent_create();
	NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, true);
	return agent;
}

void FORWARD_2_C(agent_set_map, RID, p_agent, RID, p_map, rid_to_rid, rid_to_rid);

void FORWARD_2_C(agent_set_neighbor_distance, RID, p_agent, real_t, p_dist, rid_to_rid, real_to_real);

void FORWARD_2_C(agent_set_max_neighbors, RID, p_agent, int, p_count, rid_to_rid, int_to_int);

void FORWARD_2_C(agent_set_time_horizon, RID, p_agent, real_t, p_time, rid_to_rid, real_to_real);

void FORWARD_2_C(agent_set_radius, RID, p_agent, real_t, p_radius, rid_to_rid, real_to_real);

void FORWARD_2_C(agent_set_max_speed, RID, p_agent, real_t, p_max_speed, rid_to_rid, real_to_real);

void FORWARD_2_C(agent_set_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3);

void FORWARD_2_C(agent_set_target_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3);

void FORWARD_2_C(agent_set_position, RID, p_agent, Vector2, p_position, rid_to_rid, v2_to_v3);

void FORWARD_2_C(agent_set_ignore_y, RID, p_agent, bool, p_ignore, rid_to_rid, bool_to_bool);

bool FORWARD_1_C(agent_is_map_changed, RID, p_agent, rid_to_rid);

void FORWARD_4_C(agent_set_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata, rid_to_rid, id_to_id, sn_to_sn, var_to_var);

void FORWARD_1_C(free, RID, p_object, rid_to_rid);

void NavigationServer2D::query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const {
	ERR_FAIL_COND(!p_query_parameters.is_valid());
	ERR_FAIL_COND(!p_query_result.is_valid());

	const NavigationUtilities::PathQueryResult _query_result = NavigationServer3D::get_singleton()->_query_path(p_query_parameters->get_parameters());

	p_query_result->set_path(vector_v3_to_v2(_query_result.path));
	p_query_result->set_path_types(_query_result.path_types);
	p_query_result->set_path_rids(_query_result.path_rids);
	p_query_result->set_path_owner_ids(_query_result.path_owner_ids);
}