Add NavigationAgent Path Debug Visualization

Adds path debug visuals for NavigationAgent2D, NavigationAgent3D and NavigationServer.

doc/classes/NavigationAgent2D.xml

@@ -111,6 +111,21 @@
 		<member name="avoidance_enabled" type="bool" setter="set_avoidance_enabled" getter="get_avoidance_enabled" default="false">
 			If [code]true[/code] the agent is registered for an RVO avoidance callback on the [NavigationServer2D]. When [method NavigationAgent2D.set_velocity] is used and the processing is completed a [code]safe_velocity[/code] Vector2 is received with a signal connection to [signal velocity_computed]. Avoidance processing with many registered agents has a significant performance cost and should only be enabled on agents that currently require it.
 		</member>
+		<member name="debug_enabled" type="bool" setter="set_debug_enabled" getter="get_debug_enabled" default="false">
+			If [code]true[/code] shows debug visuals for this agent.
+		</member>
+		<member name="debug_path_custom_color" type="Color" setter="set_debug_path_custom_color" getter="get_debug_path_custom_color" default="Color(1, 1, 1, 1)">
+			If [member debug_use_custom] is [code]true[/code] uses this color for this agent instead of global color.
+		</member>
+		<member name="debug_path_custom_line_width" type="float" setter="set_debug_path_custom_line_width" getter="get_debug_path_custom_line_width" default="1.0">
+			If [member debug_use_custom] is [code]true[/code] uses this line width for rendering paths for this agent instead of global line width.
+		</member>
+		<member name="debug_path_custom_point_size" type="float" setter="set_debug_path_custom_point_size" getter="get_debug_path_custom_point_size" default="4.0">
+			If [member debug_use_custom] is [code]true[/code] uses this rasterized point size for rendering path points for this agent instead of global point size.
+		</member>
+		<member name="debug_use_custom" type="bool" setter="set_debug_use_custom" getter="get_debug_use_custom" default="false">
+			If [code]true[/code] uses the defined [member debug_path_custom_color] for this agent instead of global color.
+		</member>
 		<member name="max_neighbors" type="int" setter="set_max_neighbors" getter="get_max_neighbors" default="10">
 			The maximum number of neighbors for the agent to consider.
 		</member>

doc/classes/NavigationAgent3D.xml

@@ -114,6 +114,18 @@
 		<member name="avoidance_enabled" type="bool" setter="set_avoidance_enabled" getter="get_avoidance_enabled" default="false">
 			If [code]true[/code] the agent is registered for an RVO avoidance callback on the [NavigationServer3D]. When [method NavigationAgent3D.set_velocity] is used and the processing is completed a [code]safe_velocity[/code] Vector3 is received with a signal connection to [signal velocity_computed]. Avoidance processing with many registered agents has a significant performance cost and should only be enabled on agents that currently require it.
 		</member>
+		<member name="debug_enabled" type="bool" setter="set_debug_enabled" getter="get_debug_enabled" default="false">
+			If [code]true[/code] shows debug visuals for this agent.
+		</member>
+		<member name="debug_path_custom_color" type="Color" setter="set_debug_path_custom_color" getter="get_debug_path_custom_color" default="Color(1, 1, 1, 1)">
+			If [member debug_use_custom] is [code]true[/code] uses this color for this agent instead of global color.
+		</member>
+		<member name="debug_path_custom_point_size" type="float" setter="set_debug_path_custom_point_size" getter="get_debug_path_custom_point_size" default="4.0">
+			If [member debug_use_custom] is [code]true[/code] uses this rasterized point size for rendering path points for this agent instead of global point size.
+		</member>
+		<member name="debug_use_custom" type="bool" setter="set_debug_use_custom" getter="get_debug_use_custom" default="false">
+			If [code]true[/code] uses the defined [member debug_path_custom_color] for this agent instead of global color.
+		</member>
 		<member name="ignore_y" type="bool" setter="set_ignore_y" getter="get_ignore_y" default="true">
 			Ignores collisions on the Y axis. Must be true to move on a horizontal plane.
 		</member>

doc/classes/NavigationServer2D.xml

@@ -528,5 +528,10 @@
 				Emitted when a navigation map is updated, when a region moves or is modified.
 			</description>
 		</signal>
+		<signal name="navigation_debug_changed">
+			<description>
+				Emitted when navigation debug settings are changed. Only available in debug builds.
+			</description>
+		</signal>
 	</signals>
 </class>

doc/classes/ProjectSettings.xml

@@ -528,9 +528,21 @@
 		<member name="debug/shapes/collision/shape_color" type="Color" setter="" getter="" default="Color(0, 0.6, 0.7, 0.42)">
 			Color of the collision shapes, visible when "Visible Collision Shapes" is enabled in the Debug menu.
 		</member>
+		<member name="debug/shapes/navigation/agent_path_color" type="Color" setter="" getter="" default="Color(1, 0, 0, 1)">
+			Color to display enabled navigation agent paths when an agent has debug enabled.
+		</member>
+		<member name="debug/shapes/navigation/agent_path_point_size" type="float" setter="" getter="" default="4.0">
+			Rasterized size (pixel) used to render navigation agent path points when an agent has debug enabled.
+		</member>
 		<member name="debug/shapes/navigation/edge_connection_color" type="Color" setter="" getter="" default="Color(1, 0, 1, 1)">
 			Color to display edge connections between navigation regions, visible when "Visible Navigation" is enabled in the Debug menu.
 		</member>
+		<member name="debug/shapes/navigation/enable_agent_paths" type="bool" setter="" getter="" default="true">
+			If enabled, displays navigation agent paths when an agent has debug enabled.
+		</member>
+		<member name="debug/shapes/navigation/enable_agent_paths_xray" type="bool" setter="" getter="" default="true">
+			If enabled, displays navigation agent paths through geometry when an agent has debug enabled.
+		</member>
 		<member name="debug/shapes/navigation/enable_edge_connections" type="bool" setter="" getter="" default="true">
 			If enabled, displays edge connections between navigation regions when "Visible Navigation" is enabled in the Debug menu.
 		</member>

scene/2d/navigation_agent_2d.cpp

@@ -108,6 +108,26 @@ void NavigationAgent2D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10,0.01,suffix:s"), "set_time_horizon", "get_time_horizon");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:px/s"), "set_max_speed", "get_max_speed");
 
+#ifdef DEBUG_ENABLED
+	ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent2D::set_debug_enabled);
+	ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent2D::get_debug_enabled);
+	ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent2D::set_debug_use_custom);
+	ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent2D::get_debug_use_custom);
+	ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent2D::set_debug_path_custom_color);
+	ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent2D::get_debug_path_custom_color);
+	ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent2D::set_debug_path_custom_point_size);
+	ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent2D::get_debug_path_custom_point_size);
+	ClassDB::bind_method(D_METHOD("set_debug_path_custom_line_width", "line_width"), &NavigationAgent2D::set_debug_path_custom_line_width);
+	ClassDB::bind_method(D_METHOD("get_debug_path_custom_line_width"), &NavigationAgent2D::get_debug_path_custom_line_width);
+
+	ADD_GROUP("Debug", "");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom");
+	ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_point_size", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_line_width", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_line_width", "get_debug_path_custom_line_width");
+#endif // DEBUG_ENABLED
+
 	ADD_SIGNAL(MethodInfo("path_changed"));
 	ADD_SIGNAL(MethodInfo("target_reached"));
 	ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
@@ -123,6 +143,12 @@ void NavigationAgent2D::_notification(int p_what) {
 			// 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);
+
+#ifdef DEBUG_ENABLED
+			if (NavigationServer2D::get_singleton()->get_debug_enabled()) {
+				debug_path_dirty = true;
+			}
+#endif // DEBUG_ENABLED
 		} break;
 
 		case NOTIFICATION_PARENTED: {
@@ -165,6 +191,12 @@ void NavigationAgent2D::_notification(int p_what) {
 		case NOTIFICATION_EXIT_TREE: {
 			agent_parent = nullptr;
 			set_physics_process_internal(false);
+
+#ifdef DEBUG_ENABLED
+			if (debug_path_instance.is_valid()) {
+				RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, false);
+			}
+#endif // DEBUG_ENABLED
 		} break;
 
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
@@ -176,6 +208,12 @@ void NavigationAgent2D::_notification(int p_what) {
 				}
 				_check_distance_to_target();
 			}
+
+#ifdef DEBUG_ENABLED
+			if (debug_path_dirty) {
+				_update_debug_path();
+			}
+#endif // DEBUG_ENABLED
 		} break;
 	}
 }
@@ -194,12 +232,25 @@ NavigationAgent2D::NavigationAgent2D() {
 
 	navigation_result = Ref<NavigationPathQueryResult2D>();
 	navigation_result.instantiate();
+
+#ifdef DEBUG_ENABLED
+	NavigationServer2D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed));
+#endif // DEBUG_ENABLED
 }
 
 NavigationAgent2D::~NavigationAgent2D() {
 	ERR_FAIL_NULL(NavigationServer2D::get_singleton());
 	NavigationServer2D::get_singleton()->free(agent);
 	agent = RID(); // Pointless
+
+#ifdef DEBUG_ENABLED
+	NavigationServer2D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed));
+
+	ERR_FAIL_NULL(RenderingServer::get_singleton());
+	if (debug_path_instance.is_valid()) {
+		RenderingServer::get_singleton()->free(debug_path_instance);
+	}
+#endif // DEBUG_ENABLED
 }
 
 void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) {
@@ -463,6 +514,9 @@ void NavigationAgent2D::update_navigation() {
 		}
 
 		NavigationServer2D::get_singleton()->query_path(navigation_query, navigation_result);
+#ifdef DEBUG_ENABLED
+		debug_path_dirty = true;
+#endif // DEBUG_ENABLED
 		navigation_finished = false;
 		navigation_path_index = 0;
 		emit_signal(SNAME("path_changed"));
@@ -549,3 +603,111 @@ void NavigationAgent2D::_check_distance_to_target() {
 		}
 	}
 }
+
+////////DEBUG////////////////////////////////////////////////////////////
+
+#ifdef DEBUG_ENABLED
+void NavigationAgent2D::set_debug_enabled(bool p_enabled) {
+	debug_enabled = p_enabled;
+	debug_path_dirty = true;
+}
+
+bool NavigationAgent2D::get_debug_enabled() const {
+	return debug_enabled;
+}
+
+void NavigationAgent2D::set_debug_use_custom(bool p_enabled) {
+	debug_use_custom = p_enabled;
+	debug_path_dirty = true;
+}
+
+bool NavigationAgent2D::get_debug_use_custom() const {
+	return debug_use_custom;
+}
+
+void NavigationAgent2D::set_debug_path_custom_color(Color p_color) {
+	debug_path_custom_color = p_color;
+	debug_path_dirty = true;
+}
+
+Color NavigationAgent2D::get_debug_path_custom_color() const {
+	return debug_path_custom_color;
+}
+
+void NavigationAgent2D::set_debug_path_custom_point_size(float p_point_size) {
+	debug_path_custom_point_size = MAX(0.1, p_point_size);
+	debug_path_dirty = true;
+}
+
+float NavigationAgent2D::get_debug_path_custom_point_size() const {
+	return debug_path_custom_point_size;
+}
+
+void NavigationAgent2D::set_debug_path_custom_line_width(float p_line_width) {
+	debug_path_custom_line_width = p_line_width;
+	debug_path_dirty = true;
+}
+
+float NavigationAgent2D::get_debug_path_custom_line_width() const {
+	return debug_path_custom_line_width;
+}
+
+void NavigationAgent2D::_navigation_debug_changed() {
+	debug_path_dirty = true;
+}
+
+void NavigationAgent2D::_update_debug_path() {
+	if (!debug_path_dirty) {
+		return;
+	}
+	debug_path_dirty = false;
+
+	if (!debug_path_instance.is_valid()) {
+		debug_path_instance = RenderingServer::get_singleton()->canvas_item_create();
+	}
+
+	RenderingServer::get_singleton()->canvas_item_clear(debug_path_instance);
+
+	if (!(debug_enabled && NavigationServer2D::get_singleton()->get_debug_navigation_enable_agent_paths())) {
+		return;
+	}
+
+	if (!(agent_parent && agent_parent->is_inside_tree())) {
+		return;
+	}
+
+	RenderingServer::get_singleton()->canvas_item_set_parent(debug_path_instance, agent_parent->get_canvas());
+	RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, agent_parent->is_visible_in_tree());
+
+	const Vector<Vector2> &navigation_path = navigation_result->get_path();
+
+	if (navigation_path.size() <= 1) {
+		return;
+	}
+
+	Color debug_path_color = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_color();
+	if (debug_use_custom) {
+		debug_path_color = debug_path_custom_color;
+	}
+
+	Vector<Color> debug_path_colors;
+	debug_path_colors.resize(navigation_path.size());
+	debug_path_colors.fill(debug_path_color);
+
+	RenderingServer::get_singleton()->canvas_item_add_polyline(debug_path_instance, navigation_path, debug_path_colors, debug_path_custom_line_width, false);
+
+	float point_size = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_point_size();
+	float half_point_size = point_size * 0.5;
+
+	if (debug_use_custom) {
+		point_size = debug_path_custom_point_size;
+		half_point_size = debug_path_custom_point_size * 0.5;
+	}
+
+	for (int i = 0; i < navigation_path.size(); i++) {
+		const Vector2 &vert = navigation_path[i];
+		Rect2 path_point_rect = Rect2(vert.x - half_point_size, vert.y - half_point_size, point_size, point_size);
+		RenderingServer::get_singleton()->canvas_item_add_rect(debug_path_instance, path_point_rect, debug_path_color);
+	}
+}
+#endif // DEBUG_ENABLED

scene/2d/navigation_agent_2d.h

@@ -74,6 +74,20 @@ class NavigationAgent2D : public Node {
 	// No initialized on purpose
 	uint32_t update_frame_id = 0;
 
+#ifdef DEBUG_ENABLED
+	bool debug_enabled = false;
+	bool debug_path_dirty = true;
+	RID debug_path_instance;
+	float debug_path_custom_point_size = 4.0;
+	float debug_path_custom_line_width = 1.0;
+	bool debug_use_custom = false;
+	Color debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0);
+
+private:
+	void _navigation_debug_changed();
+	void _update_debug_path();
+#endif // DEBUG_ENABLED
+
 protected:
 	static void _bind_methods();
 	void _notification(int p_what);
@@ -169,6 +183,23 @@ class NavigationAgent2D : public Node {
 
 	PackedStringArray get_configuration_warnings() const override;
 
+#ifdef DEBUG_ENABLED
+	void set_debug_enabled(bool p_enabled);
+	bool get_debug_enabled() const;
+
+	void set_debug_use_custom(bool p_enabled);
+	bool get_debug_use_custom() const;
+
+	void set_debug_path_custom_color(Color p_color);
+	Color get_debug_path_custom_color() const;
+
+	void set_debug_path_custom_point_size(float p_point_size);
+	float get_debug_path_custom_point_size() const;
+
+	void set_debug_path_custom_line_width(float p_line_width);
+	float get_debug_path_custom_line_width() const;
+#endif // DEBUG_ENABLED
+
 private:
 	void update_navigation();
 	void _request_repath();