godot-docs/classes/class_navigationserver2d.rst

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.. _class_NavigationServer2D:

NavigationServer2D
==================

**Inherits:** :ref:`Object<class_Object>`

A server interface for low-level 2D navigation access.

.. rst-class:: classref-introduction-group

Description
-----------

NavigationServer2D is the server that handles navigation maps, regions and agents. It does not handle A\* navigation from :ref:`AStar2D<class_AStar2D>` or :ref:`AStarGrid2D<class_AStarGrid2D>`.

Maps are made up of regions, which are made of navigation polygons. Together, they define the traversable areas in the 2D world.

\ **Note:** Most **NavigationServer2D** changes take effect after the next physics frame and not immediately. This includes all changes made to maps, regions or agents by navigation-related nodes in the scene tree or made through scripts.

For two regions to be connected to each other, they must share a similar edge. An edge is considered connected to another if both of its two vertices are at a distance less than ``edge_connection_margin`` to the respective other edge's vertex.

You may assign navigation layers to regions with :ref:`region_set_navigation_layers<class_NavigationServer2D_method_region_set_navigation_layers>`, which then can be checked upon when requesting a path with :ref:`map_get_path<class_NavigationServer2D_method_map_get_path>`. This can be used to allow or deny certain areas for some objects.

To use the collision avoidance system, you may use agents. You can set an agent's target velocity, then the servers will emit a callback with a modified velocity.

\ **Note:** The collision avoidance system ignores regions. Using the modified velocity directly may move an agent outside of the traversable area. This is a limitation of the collision avoidance system, any more complex situation may require the use of the physics engine.

This server keeps tracks of any call and executes them during the sync phase. This means that you can request any change to the map, using any thread, without worrying.

.. rst-class:: classref-introduction-group

Tutorials
---------

- `2D Navigation Demo <https://godotengine.org/asset-library/asset/117>`__

- :doc:`Using NavigationServer <../tutorials/navigation/navigation_using_navigationservers>`

.. rst-class:: classref-reftable-group

Methods
-------

.. table::
   :widths: auto

   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`agent_create<class_NavigationServer2D_method_agent_create>` **(** **)**                                                                                                                                                                                                 |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`agent_get_avoidance_enabled<class_NavigationServer2D_method_agent_get_avoidance_enabled>` **(** :ref:`RID<class_RID>` agent **)** |const|                                                                                                                               |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`agent_get_map<class_NavigationServer2D_method_agent_get_map>` **(** :ref:`RID<class_RID>` agent **)** |const|                                                                                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`agent_get_paused<class_NavigationServer2D_method_agent_get_paused>` **(** :ref:`RID<class_RID>` agent **)** |const|                                                                                                                                                     |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`agent_is_map_changed<class_NavigationServer2D_method_agent_is_map_changed>` **(** :ref:`RID<class_RID>` agent **)** |const|                                                                                                                                             |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_avoidance_callback<class_NavigationServer2D_method_agent_set_avoidance_callback>` **(** :ref:`RID<class_RID>` agent, :ref:`Callable<class_Callable>` callback **)**                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_avoidance_enabled<class_NavigationServer2D_method_agent_set_avoidance_enabled>` **(** :ref:`RID<class_RID>` agent, :ref:`bool<class_bool>` enabled **)**                                                                                                      |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_avoidance_layers<class_NavigationServer2D_method_agent_set_avoidance_layers>` **(** :ref:`RID<class_RID>` agent, :ref:`int<class_int>` layers **)**                                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_avoidance_mask<class_NavigationServer2D_method_agent_set_avoidance_mask>` **(** :ref:`RID<class_RID>` agent, :ref:`int<class_int>` mask **)**                                                                                                                 |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_avoidance_priority<class_NavigationServer2D_method_agent_set_avoidance_priority>` **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` priority **)**                                                                                                 |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_map<class_NavigationServer2D_method_agent_set_map>` **(** :ref:`RID<class_RID>` agent, :ref:`RID<class_RID>` map **)**                                                                                                                                        |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_max_neighbors<class_NavigationServer2D_method_agent_set_max_neighbors>` **(** :ref:`RID<class_RID>` agent, :ref:`int<class_int>` count **)**                                                                                                                  |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_max_speed<class_NavigationServer2D_method_agent_set_max_speed>` **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` max_speed **)**                                                                                                                  |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_neighbor_distance<class_NavigationServer2D_method_agent_set_neighbor_distance>` **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` distance **)**                                                                                                   |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_paused<class_NavigationServer2D_method_agent_set_paused>` **(** :ref:`RID<class_RID>` agent, :ref:`bool<class_bool>` paused **)**                                                                                                                             |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_position<class_NavigationServer2D_method_agent_set_position>` **(** :ref:`RID<class_RID>` agent, :ref:`Vector2<class_Vector2>` position **)**                                                                                                                 |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_radius<class_NavigationServer2D_method_agent_set_radius>` **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` radius **)**                                                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_time_horizon_agents<class_NavigationServer2D_method_agent_set_time_horizon_agents>` **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` time_horizon **)**                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_time_horizon_obstacles<class_NavigationServer2D_method_agent_set_time_horizon_obstacles>` **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` time_horizon **)**                                                                                     |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_velocity<class_NavigationServer2D_method_agent_set_velocity>` **(** :ref:`RID<class_RID>` agent, :ref:`Vector2<class_Vector2>` velocity **)**                                                                                                                 |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`agent_set_velocity_forced<class_NavigationServer2D_method_agent_set_velocity_forced>` **(** :ref:`RID<class_RID>` agent, :ref:`Vector2<class_Vector2>` velocity **)**                                                                                                   |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`free_rid<class_NavigationServer2D_method_free_rid>` **(** :ref:`RID<class_RID>` rid **)**                                                                                                                                                                               |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`get_debug_enabled<class_NavigationServer2D_method_get_debug_enabled>` **(** **)** |const|                                                                                                                                                                               |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID[]<class_RID>`                             | :ref:`get_maps<class_NavigationServer2D_method_get_maps>` **(** **)** |const|                                                                                                                                                                                                 |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`link_create<class_NavigationServer2D_method_link_create>` **(** **)**                                                                                                                                                                                                   |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`link_get_end_position<class_NavigationServer2D_method_link_get_end_position>` **(** :ref:`RID<class_RID>` link **)** |const|                                                                                                                                            |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`link_get_enter_cost<class_NavigationServer2D_method_link_get_enter_cost>` **(** :ref:`RID<class_RID>` link **)** |const|                                                                                                                                                |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`link_get_map<class_NavigationServer2D_method_link_get_map>` **(** :ref:`RID<class_RID>` link **)** |const|                                                                                                                                                              |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`link_get_navigation_layers<class_NavigationServer2D_method_link_get_navigation_layers>` **(** :ref:`RID<class_RID>` link **)** |const|                                                                                                                                  |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`link_get_owner_id<class_NavigationServer2D_method_link_get_owner_id>` **(** :ref:`RID<class_RID>` link **)** |const|                                                                                                                                                    |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`link_get_start_position<class_NavigationServer2D_method_link_get_start_position>` **(** :ref:`RID<class_RID>` link **)** |const|                                                                                                                                        |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`link_get_travel_cost<class_NavigationServer2D_method_link_get_travel_cost>` **(** :ref:`RID<class_RID>` link **)** |const|                                                                                                                                              |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`link_is_bidirectional<class_NavigationServer2D_method_link_is_bidirectional>` **(** :ref:`RID<class_RID>` link **)** |const|                                                                                                                                            |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`link_set_bidirectional<class_NavigationServer2D_method_link_set_bidirectional>` **(** :ref:`RID<class_RID>` link, :ref:`bool<class_bool>` bidirectional **)**                                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`link_set_end_position<class_NavigationServer2D_method_link_set_end_position>` **(** :ref:`RID<class_RID>` link, :ref:`Vector2<class_Vector2>` position **)**                                                                                                            |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`link_set_enter_cost<class_NavigationServer2D_method_link_set_enter_cost>` **(** :ref:`RID<class_RID>` link, :ref:`float<class_float>` enter_cost **)**                                                                                                                  |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`link_set_map<class_NavigationServer2D_method_link_set_map>` **(** :ref:`RID<class_RID>` link, :ref:`RID<class_RID>` map **)**                                                                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`link_set_navigation_layers<class_NavigationServer2D_method_link_set_navigation_layers>` **(** :ref:`RID<class_RID>` link, :ref:`int<class_int>` navigation_layers **)**                                                                                                 |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`link_set_owner_id<class_NavigationServer2D_method_link_set_owner_id>` **(** :ref:`RID<class_RID>` link, :ref:`int<class_int>` owner_id **)**                                                                                                                            |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`link_set_start_position<class_NavigationServer2D_method_link_set_start_position>` **(** :ref:`RID<class_RID>` link, :ref:`Vector2<class_Vector2>` position **)**                                                                                                        |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`link_set_travel_cost<class_NavigationServer2D_method_link_set_travel_cost>` **(** :ref:`RID<class_RID>` link, :ref:`float<class_float>` travel_cost **)**                                                                                                               |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`map_create<class_NavigationServer2D_method_map_create>` **(** **)**                                                                                                                                                                                                     |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`map_force_update<class_NavigationServer2D_method_map_force_update>` **(** :ref:`RID<class_RID>` map **)**                                                                                                                                                               |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID[]<class_RID>`                             | :ref:`map_get_agents<class_NavigationServer2D_method_map_get_agents>` **(** :ref:`RID<class_RID>` map **)** |const|                                                                                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`map_get_cell_size<class_NavigationServer2D_method_map_get_cell_size>` **(** :ref:`RID<class_RID>` map **)** |const|                                                                                                                                                     |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`map_get_closest_point<class_NavigationServer2D_method_map_get_closest_point>` **(** :ref:`RID<class_RID>` map, :ref:`Vector2<class_Vector2>` to_point **)** |const|                                                                                                     |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`map_get_closest_point_owner<class_NavigationServer2D_method_map_get_closest_point_owner>` **(** :ref:`RID<class_RID>` map, :ref:`Vector2<class_Vector2>` to_point **)** |const|                                                                                         |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`map_get_edge_connection_margin<class_NavigationServer2D_method_map_get_edge_connection_margin>` **(** :ref:`RID<class_RID>` map **)** |const|                                                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`map_get_link_connection_radius<class_NavigationServer2D_method_map_get_link_connection_radius>` **(** :ref:`RID<class_RID>` map **)** |const|                                                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID[]<class_RID>`                             | :ref:`map_get_links<class_NavigationServer2D_method_map_get_links>` **(** :ref:`RID<class_RID>` map **)** |const|                                                                                                                                                             |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID[]<class_RID>`                             | :ref:`map_get_obstacles<class_NavigationServer2D_method_map_get_obstacles>` **(** :ref:`RID<class_RID>` map **)** |const|                                                                                                                                                     |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`PackedVector2Array<class_PackedVector2Array>` | :ref:`map_get_path<class_NavigationServer2D_method_map_get_path>` **(** :ref:`RID<class_RID>` map, :ref:`Vector2<class_Vector2>` origin, :ref:`Vector2<class_Vector2>` destination, :ref:`bool<class_bool>` optimize, :ref:`int<class_int>` navigation_layers=1 **)** |const| |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID[]<class_RID>`                             | :ref:`map_get_regions<class_NavigationServer2D_method_map_get_regions>` **(** :ref:`RID<class_RID>` map **)** |const|                                                                                                                                                         |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`map_get_use_edge_connections<class_NavigationServer2D_method_map_get_use_edge_connections>` **(** :ref:`RID<class_RID>` map **)** |const|                                                                                                                               |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`map_is_active<class_NavigationServer2D_method_map_is_active>` **(** :ref:`RID<class_RID>` map **)** |const|                                                                                                                                                             |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`map_set_active<class_NavigationServer2D_method_map_set_active>` **(** :ref:`RID<class_RID>` map, :ref:`bool<class_bool>` active **)**                                                                                                                                   |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`map_set_cell_size<class_NavigationServer2D_method_map_set_cell_size>` **(** :ref:`RID<class_RID>` map, :ref:`float<class_float>` cell_size **)**                                                                                                                        |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`map_set_edge_connection_margin<class_NavigationServer2D_method_map_set_edge_connection_margin>` **(** :ref:`RID<class_RID>` map, :ref:`float<class_float>` margin **)**                                                                                                 |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`map_set_link_connection_radius<class_NavigationServer2D_method_map_set_link_connection_radius>` **(** :ref:`RID<class_RID>` map, :ref:`float<class_float>` radius **)**                                                                                                 |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`map_set_use_edge_connections<class_NavigationServer2D_method_map_set_use_edge_connections>` **(** :ref:`RID<class_RID>` map, :ref:`bool<class_bool>` enabled **)**                                                                                                      |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`obstacle_create<class_NavigationServer2D_method_obstacle_create>` **(** **)**                                                                                                                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`obstacle_get_avoidance_enabled<class_NavigationServer2D_method_obstacle_get_avoidance_enabled>` **(** :ref:`RID<class_RID>` obstacle **)** |const|                                                                                                                      |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`obstacle_get_map<class_NavigationServer2D_method_obstacle_get_map>` **(** :ref:`RID<class_RID>` obstacle **)** |const|                                                                                                                                                  |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`obstacle_get_paused<class_NavigationServer2D_method_obstacle_get_paused>` **(** :ref:`RID<class_RID>` obstacle **)** |const|                                                                                                                                            |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`obstacle_set_avoidance_enabled<class_NavigationServer2D_method_obstacle_set_avoidance_enabled>` **(** :ref:`RID<class_RID>` obstacle, :ref:`bool<class_bool>` enabled **)**                                                                                             |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`obstacle_set_avoidance_layers<class_NavigationServer2D_method_obstacle_set_avoidance_layers>` **(** :ref:`RID<class_RID>` obstacle, :ref:`int<class_int>` layers **)**                                                                                                  |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`obstacle_set_map<class_NavigationServer2D_method_obstacle_set_map>` **(** :ref:`RID<class_RID>` obstacle, :ref:`RID<class_RID>` map **)**                                                                                                                               |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`obstacle_set_paused<class_NavigationServer2D_method_obstacle_set_paused>` **(** :ref:`RID<class_RID>` obstacle, :ref:`bool<class_bool>` paused **)**                                                                                                                    |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`obstacle_set_position<class_NavigationServer2D_method_obstacle_set_position>` **(** :ref:`RID<class_RID>` obstacle, :ref:`Vector2<class_Vector2>` position **)**                                                                                                        |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`obstacle_set_radius<class_NavigationServer2D_method_obstacle_set_radius>` **(** :ref:`RID<class_RID>` obstacle, :ref:`float<class_float>` radius **)**                                                                                                                  |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`obstacle_set_velocity<class_NavigationServer2D_method_obstacle_set_velocity>` **(** :ref:`RID<class_RID>` obstacle, :ref:`Vector2<class_Vector2>` velocity **)**                                                                                                        |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`obstacle_set_vertices<class_NavigationServer2D_method_obstacle_set_vertices>` **(** :ref:`RID<class_RID>` obstacle, :ref:`PackedVector2Array<class_PackedVector2Array>` vertices **)**                                                                                  |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`query_path<class_NavigationServer2D_method_query_path>` **(** :ref:`NavigationPathQueryParameters2D<class_NavigationPathQueryParameters2D>` parameters, :ref:`NavigationPathQueryResult2D<class_NavigationPathQueryResult2D>` result **)** |const|                      |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`region_create<class_NavigationServer2D_method_region_create>` **(** **)**                                                                                                                                                                                               |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`region_get_connection_pathway_end<class_NavigationServer2D_method_region_get_connection_pathway_end>` **(** :ref:`RID<class_RID>` region, :ref:`int<class_int>` connection **)** |const|                                                                                |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`region_get_connection_pathway_start<class_NavigationServer2D_method_region_get_connection_pathway_start>` **(** :ref:`RID<class_RID>` region, :ref:`int<class_int>` connection **)** |const|                                                                            |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`region_get_connections_count<class_NavigationServer2D_method_region_get_connections_count>` **(** :ref:`RID<class_RID>` region **)** |const|                                                                                                                            |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`region_get_enter_cost<class_NavigationServer2D_method_region_get_enter_cost>` **(** :ref:`RID<class_RID>` region **)** |const|                                                                                                                                          |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`region_get_map<class_NavigationServer2D_method_region_get_map>` **(** :ref:`RID<class_RID>` region **)** |const|                                                                                                                                                        |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`region_get_navigation_layers<class_NavigationServer2D_method_region_get_navigation_layers>` **(** :ref:`RID<class_RID>` region **)** |const|                                                                                                                            |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`region_get_owner_id<class_NavigationServer2D_method_region_get_owner_id>` **(** :ref:`RID<class_RID>` region **)** |const|                                                                                                                                              |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`region_get_travel_cost<class_NavigationServer2D_method_region_get_travel_cost>` **(** :ref:`RID<class_RID>` region **)** |const|                                                                                                                                        |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`region_get_use_edge_connections<class_NavigationServer2D_method_region_get_use_edge_connections>` **(** :ref:`RID<class_RID>` region **)** |const|                                                                                                                      |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`region_owns_point<class_NavigationServer2D_method_region_owns_point>` **(** :ref:`RID<class_RID>` region, :ref:`Vector2<class_Vector2>` point **)** |const|                                                                                                             |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`region_set_enter_cost<class_NavigationServer2D_method_region_set_enter_cost>` **(** :ref:`RID<class_RID>` region, :ref:`float<class_float>` enter_cost **)**                                                                                                            |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`region_set_map<class_NavigationServer2D_method_region_set_map>` **(** :ref:`RID<class_RID>` region, :ref:`RID<class_RID>` map **)**                                                                                                                                     |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`region_set_navigation_layers<class_NavigationServer2D_method_region_set_navigation_layers>` **(** :ref:`RID<class_RID>` region, :ref:`int<class_int>` navigation_layers **)**                                                                                           |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`region_set_navigation_polygon<class_NavigationServer2D_method_region_set_navigation_polygon>` **(** :ref:`RID<class_RID>` region, :ref:`NavigationPolygon<class_NavigationPolygon>` navigation_polygon **)**                                                            |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`region_set_owner_id<class_NavigationServer2D_method_region_set_owner_id>` **(** :ref:`RID<class_RID>` region, :ref:`int<class_int>` owner_id **)**                                                                                                                      |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`region_set_transform<class_NavigationServer2D_method_region_set_transform>` **(** :ref:`RID<class_RID>` region, :ref:`Transform2D<class_Transform2D>` transform **)**                                                                                                   |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`region_set_travel_cost<class_NavigationServer2D_method_region_set_travel_cost>` **(** :ref:`RID<class_RID>` region, :ref:`float<class_float>` travel_cost **)**                                                                                                         |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`region_set_use_edge_connections<class_NavigationServer2D_method_region_set_use_edge_connections>` **(** :ref:`RID<class_RID>` region, :ref:`bool<class_bool>` enabled **)**                                                                                             |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`set_debug_enabled<class_NavigationServer2D_method_set_debug_enabled>` **(** :ref:`bool<class_bool>` enabled **)**                                                                                                                                                       |
   +-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+

.. rst-class:: classref-section-separator

----

.. rst-class:: classref-descriptions-group

Signals
-------

.. _class_NavigationServer2D_signal_map_changed:

.. rst-class:: classref-signal

**map_changed** **(** :ref:`RID<class_RID>` map **)**

Emitted when a navigation map is updated, when a region moves or is modified.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_signal_navigation_debug_changed:

.. rst-class:: classref-signal

**navigation_debug_changed** **(** **)**

Emitted when navigation debug settings are changed. Only available in debug builds.

.. rst-class:: classref-section-separator

----

.. rst-class:: classref-descriptions-group

Method Descriptions
-------------------

.. _class_NavigationServer2D_method_agent_create:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **agent_create** **(** **)**

Creates the agent.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_get_avoidance_enabled:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **agent_get_avoidance_enabled** **(** :ref:`RID<class_RID>` agent **)** |const|

Return ``true`` if the specified ``agent`` uses avoidance.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_get_map:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **agent_get_map** **(** :ref:`RID<class_RID>` agent **)** |const|

Returns the navigation map :ref:`RID<class_RID>` the requested ``agent`` is currently assigned to.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_get_paused:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **agent_get_paused** **(** :ref:`RID<class_RID>` agent **)** |const|

Returns ``true`` if the specified ``agent`` is paused.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_is_map_changed:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **agent_is_map_changed** **(** :ref:`RID<class_RID>` agent **)** |const|

Returns true if the map got changed the previous frame.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_avoidance_callback:

.. rst-class:: classref-method

void **agent_set_avoidance_callback** **(** :ref:`RID<class_RID>` agent, :ref:`Callable<class_Callable>` callback **)**

Sets the callback :ref:`Callable<class_Callable>` that gets called after each avoidance processing step for the ``agent``. The calculated ``safe_velocity`` will be dispatched with a signal to the object just before the physics calculations.

\ **Note:** Created callbacks are always processed independently of the SceneTree state as long as the agent is on a navigation map and not freed. To disable the dispatch of a callback from an agent use :ref:`agent_set_avoidance_callback<class_NavigationServer2D_method_agent_set_avoidance_callback>` again with an empty :ref:`Callable<class_Callable>`.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_avoidance_enabled:

.. rst-class:: classref-method

void **agent_set_avoidance_enabled** **(** :ref:`RID<class_RID>` agent, :ref:`bool<class_bool>` enabled **)**

If ``enabled`` is ``true`` the specified ``agent`` uses avoidance.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_avoidance_layers:

.. rst-class:: classref-method

void **agent_set_avoidance_layers** **(** :ref:`RID<class_RID>` agent, :ref:`int<class_int>` layers **)**

Set the agent's ``avoidance_layers`` bitmask.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_avoidance_mask:

.. rst-class:: classref-method

void **agent_set_avoidance_mask** **(** :ref:`RID<class_RID>` agent, :ref:`int<class_int>` mask **)**

Set the agent's ``avoidance_mask`` bitmask.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_avoidance_priority:

.. rst-class:: classref-method

void **agent_set_avoidance_priority** **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` priority **)**

Set the agent's ``avoidance_priority`` with a ``priority`` between 0.0 (lowest priority) to 1.0 (highest priority).

The specified ``agent`` does not adjust the velocity for other agents that would match the ``avoidance_mask`` but have a lower `` avoidance_priority``. This in turn makes the other agents with lower priority adjust their velocities even more to avoid collision with this agent.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_map:

.. rst-class:: classref-method

void **agent_set_map** **(** :ref:`RID<class_RID>` agent, :ref:`RID<class_RID>` map **)**

Puts the agent in the map.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_max_neighbors:

.. rst-class:: classref-method

void **agent_set_max_neighbors** **(** :ref:`RID<class_RID>` agent, :ref:`int<class_int>` count **)**

Sets the maximum number of other agents the agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_max_speed:

.. rst-class:: classref-method

void **agent_set_max_speed** **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` max_speed **)**

Sets the maximum speed of the agent. Must be positive.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_neighbor_distance:

.. rst-class:: classref-method

void **agent_set_neighbor_distance** **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` distance **)**

Sets the maximum distance to other agents this agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_paused:

.. rst-class:: classref-method

void **agent_set_paused** **(** :ref:`RID<class_RID>` agent, :ref:`bool<class_bool>` paused **)**

If ``paused`` is true the specified ``agent`` will not be processed, e.g. calculate avoidance velocities or receive avoidance callbacks.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_position:

.. rst-class:: classref-method

void **agent_set_position** **(** :ref:`RID<class_RID>` agent, :ref:`Vector2<class_Vector2>` position **)**

Sets the position of the agent in world space.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_radius:

.. rst-class:: classref-method

void **agent_set_radius** **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` radius **)**

Sets the radius of the agent.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_time_horizon_agents:

.. rst-class:: classref-method

void **agent_set_time_horizon_agents** **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` time_horizon **)**

The minimal amount of time for which the agent's velocities that are computed by the simulation are safe with respect to other agents. The larger this number, the sooner this agent will respond to the presence of other agents, but the less freedom this agent has in choosing its velocities. A too high value will slow down agents movement considerably. Must be positive.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_time_horizon_obstacles:

.. rst-class:: classref-method

void **agent_set_time_horizon_obstacles** **(** :ref:`RID<class_RID>` agent, :ref:`float<class_float>` time_horizon **)**

The minimal amount of time for which the agent's velocities that are computed by the simulation are safe with respect to static avoidance obstacles. The larger this number, the sooner this agent will respond to the presence of static avoidance obstacles, but the less freedom this agent has in choosing its velocities. A too high value will slow down agents movement considerably. Must be positive.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_velocity:

.. rst-class:: classref-method

void **agent_set_velocity** **(** :ref:`RID<class_RID>` agent, :ref:`Vector2<class_Vector2>` velocity **)**

Sets ``velocity`` as the new wanted velocity for the specified ``agent``. The avoidance simulation will try to fulfill this velocity if possible but will modify it to avoid collision with other agent's and obstacles. When an agent is teleported to a new position far away use :ref:`agent_set_velocity_forced<class_NavigationServer2D_method_agent_set_velocity_forced>` instead to reset the internal velocity state.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_agent_set_velocity_forced:

.. rst-class:: classref-method

void **agent_set_velocity_forced** **(** :ref:`RID<class_RID>` agent, :ref:`Vector2<class_Vector2>` velocity **)**

Replaces the internal velocity in the collision avoidance simulation with ``velocity`` for the specified ``agent``. When an agent is teleported to a new position far away this function should be used in the same frame. If called frequently this function can get agents stuck.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_free_rid:

.. rst-class:: classref-method

void **free_rid** **(** :ref:`RID<class_RID>` rid **)**

Destroys the given RID.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_get_debug_enabled:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **get_debug_enabled** **(** **)** |const|

Returns ``true`` when the NavigationServer has debug enabled.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_get_maps:

.. rst-class:: classref-method

:ref:`RID[]<class_RID>` **get_maps** **(** **)** |const|

Returns all created navigation map :ref:`RID<class_RID>`\ s on the NavigationServer. This returns both 2D and 3D created navigation maps as there is technically no distinction between them.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_create:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **link_create** **(** **)**

Create a new link between two positions on a map.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_get_end_position:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **link_get_end_position** **(** :ref:`RID<class_RID>` link **)** |const|

Returns the ending position of this ``link``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_get_enter_cost:

.. rst-class:: classref-method

:ref:`float<class_float>` **link_get_enter_cost** **(** :ref:`RID<class_RID>` link **)** |const|

Returns the enter cost of this ``link``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_get_map:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **link_get_map** **(** :ref:`RID<class_RID>` link **)** |const|

Returns the navigation map :ref:`RID<class_RID>` the requested ``link`` is currently assigned to.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_get_navigation_layers:

.. rst-class:: classref-method

:ref:`int<class_int>` **link_get_navigation_layers** **(** :ref:`RID<class_RID>` link **)** |const|

Returns the navigation layers for this ``link``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_get_owner_id:

.. rst-class:: classref-method

:ref:`int<class_int>` **link_get_owner_id** **(** :ref:`RID<class_RID>` link **)** |const|

Returns the ``ObjectID`` of the object which manages this link.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_get_start_position:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **link_get_start_position** **(** :ref:`RID<class_RID>` link **)** |const|

Returns the starting position of this ``link``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_get_travel_cost:

.. rst-class:: classref-method

:ref:`float<class_float>` **link_get_travel_cost** **(** :ref:`RID<class_RID>` link **)** |const|

Returns the travel cost of this ``link``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_is_bidirectional:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **link_is_bidirectional** **(** :ref:`RID<class_RID>` link **)** |const|

Returns whether this ``link`` can be travelled in both directions.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_set_bidirectional:

.. rst-class:: classref-method

void **link_set_bidirectional** **(** :ref:`RID<class_RID>` link, :ref:`bool<class_bool>` bidirectional **)**

Sets whether this ``link`` can be travelled in both directions.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_set_end_position:

.. rst-class:: classref-method

void **link_set_end_position** **(** :ref:`RID<class_RID>` link, :ref:`Vector2<class_Vector2>` position **)**

Sets the exit position for the ``link``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_set_enter_cost:

.. rst-class:: classref-method

void **link_set_enter_cost** **(** :ref:`RID<class_RID>` link, :ref:`float<class_float>` enter_cost **)**

Sets the ``enter_cost`` for this ``link``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_set_map:

.. rst-class:: classref-method

void **link_set_map** **(** :ref:`RID<class_RID>` link, :ref:`RID<class_RID>` map **)**

Sets the navigation map :ref:`RID<class_RID>` for the link.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_set_navigation_layers:

.. rst-class:: classref-method

void **link_set_navigation_layers** **(** :ref:`RID<class_RID>` link, :ref:`int<class_int>` navigation_layers **)**

Set the links's navigation layers. This allows selecting links from a path request (when using :ref:`map_get_path<class_NavigationServer2D_method_map_get_path>`).

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_set_owner_id:

.. rst-class:: classref-method

void **link_set_owner_id** **(** :ref:`RID<class_RID>` link, :ref:`int<class_int>` owner_id **)**

Set the ``ObjectID`` of the object which manages this link.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_set_start_position:

.. rst-class:: classref-method

void **link_set_start_position** **(** :ref:`RID<class_RID>` link, :ref:`Vector2<class_Vector2>` position **)**

Sets the entry position for this ``link``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_link_set_travel_cost:

.. rst-class:: classref-method

void **link_set_travel_cost** **(** :ref:`RID<class_RID>` link, :ref:`float<class_float>` travel_cost **)**

Sets the ``travel_cost`` for this ``link``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_create:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **map_create** **(** **)**

Create a new map.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_force_update:

.. rst-class:: classref-method

void **map_force_update** **(** :ref:`RID<class_RID>` map **)**

This function immediately forces synchronization of the specified navigation ``map`` :ref:`RID<class_RID>`. By default navigation maps are only synchronized at the end of each physics frame. This function can be used to immediately (re)calculate all the navigation meshes and region connections of the navigation map. This makes it possible to query a navigation path for a changed map immediately and in the same frame (multiple times if needed).

Due to technical restrictions the current NavigationServer command queue will be flushed. This means all already queued update commands for this physics frame will be executed, even those intended for other maps, regions and agents not part of the specified map. The expensive computation of the navigation meshes and region connections of a map will only be done for the specified map. Other maps will receive the normal synchronization at the end of the physics frame. Should the specified map receive changes after the forced update it will update again as well when the other maps receive their update.

Avoidance processing and dispatch of the ``safe_velocity`` signals is untouched by this function and continues to happen for all maps and agents at the end of the physics frame.

\ **Note:** With great power comes great responsibility. This function should only be used by users that really know what they are doing and have a good reason for it. Forcing an immediate update of a navigation map requires locking the NavigationServer and flushing the entire NavigationServer command queue. Not only can this severely impact the performance of a game but it can also introduce bugs if used inappropriately without much foresight.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_agents:

.. rst-class:: classref-method

:ref:`RID[]<class_RID>` **map_get_agents** **(** :ref:`RID<class_RID>` map **)** |const|

Returns all navigation agents :ref:`RID<class_RID>`\ s that are currently assigned to the requested navigation ``map``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_cell_size:

.. rst-class:: classref-method

:ref:`float<class_float>` **map_get_cell_size** **(** :ref:`RID<class_RID>` map **)** |const|

Returns the map cell size used to rasterize the navigation mesh vertices.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_closest_point:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **map_get_closest_point** **(** :ref:`RID<class_RID>` map, :ref:`Vector2<class_Vector2>` to_point **)** |const|

Returns the point closest to the provided ``to_point`` on the navigation mesh surface.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_closest_point_owner:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **map_get_closest_point_owner** **(** :ref:`RID<class_RID>` map, :ref:`Vector2<class_Vector2>` to_point **)** |const|

Returns the owner region RID for the point returned by :ref:`map_get_closest_point<class_NavigationServer2D_method_map_get_closest_point>`.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_edge_connection_margin:

.. rst-class:: classref-method

:ref:`float<class_float>` **map_get_edge_connection_margin** **(** :ref:`RID<class_RID>` map **)** |const|

Returns the edge connection margin of the map. The edge connection margin is a distance used to connect two regions.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_link_connection_radius:

.. rst-class:: classref-method

:ref:`float<class_float>` **map_get_link_connection_radius** **(** :ref:`RID<class_RID>` map **)** |const|

Returns the link connection radius of the map. This distance is the maximum range any link will search for navigation mesh polygons to connect to.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_links:

.. rst-class:: classref-method

:ref:`RID[]<class_RID>` **map_get_links** **(** :ref:`RID<class_RID>` map **)** |const|

Returns all navigation link :ref:`RID<class_RID>`\ s that are currently assigned to the requested navigation ``map``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_obstacles:

.. rst-class:: classref-method

:ref:`RID[]<class_RID>` **map_get_obstacles** **(** :ref:`RID<class_RID>` map **)** |const|

Returns all navigation obstacle :ref:`RID<class_RID>`\ s that are currently assigned to the requested navigation ``map``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_path:

.. rst-class:: classref-method

:ref:`PackedVector2Array<class_PackedVector2Array>` **map_get_path** **(** :ref:`RID<class_RID>` map, :ref:`Vector2<class_Vector2>` origin, :ref:`Vector2<class_Vector2>` destination, :ref:`bool<class_bool>` optimize, :ref:`int<class_int>` navigation_layers=1 **)** |const|

Returns the navigation path to reach the destination from the origin. ``navigation_layers`` is a bitmask of all region navigation layers that are allowed to be in the path.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_regions:

.. rst-class:: classref-method

:ref:`RID[]<class_RID>` **map_get_regions** **(** :ref:`RID<class_RID>` map **)** |const|

Returns all navigation regions :ref:`RID<class_RID>`\ s that are currently assigned to the requested navigation ``map``.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_get_use_edge_connections:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **map_get_use_edge_connections** **(** :ref:`RID<class_RID>` map **)** |const|

Returns whether the navigation ``map`` allows navigation regions to use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_is_active:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **map_is_active** **(** :ref:`RID<class_RID>` map **)** |const|

Returns true if the map is active.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_set_active:

.. rst-class:: classref-method

void **map_set_active** **(** :ref:`RID<class_RID>` map, :ref:`bool<class_bool>` active **)**

Sets the map active.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_set_cell_size:

.. rst-class:: classref-method

void **map_set_cell_size** **(** :ref:`RID<class_RID>` map, :ref:`float<class_float>` cell_size **)**

Sets the map cell size used to rasterize the navigation mesh vertices. Must match with the cell size of the used navigation meshes.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_set_edge_connection_margin:

.. rst-class:: classref-method

void **map_set_edge_connection_margin** **(** :ref:`RID<class_RID>` map, :ref:`float<class_float>` margin **)**

Set the map edge connection margin used to weld the compatible region edges.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_set_link_connection_radius:

.. rst-class:: classref-method

void **map_set_link_connection_radius** **(** :ref:`RID<class_RID>` map, :ref:`float<class_float>` radius **)**

Set the map's link connection radius used to connect links to navigation polygons.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_map_set_use_edge_connections:

.. rst-class:: classref-method

void **map_set_use_edge_connections** **(** :ref:`RID<class_RID>` map, :ref:`bool<class_bool>` enabled **)**

Set the navigation ``map`` edge connection use. If ``enabled`` the navigation map allows navigation regions to use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_obstacle_create:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **obstacle_create** **(** **)**

Creates a new navigation obstacle.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_obstacle_get_avoidance_enabled:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **obstacle_get_avoidance_enabled** **(** :ref:`RID<class_RID>` obstacle **)** |const|

Returns ``true`` if the provided ``obstacle`` has avoidance enabled.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_obstacle_get_map:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **obstacle_get_map** **(** :ref:`RID<class_RID>` obstacle **)** |const|

Returns the navigation map :ref:`RID<class_RID>` the requested ``obstacle`` is currently assigned to.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_obstacle_get_paused:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **obstacle_get_paused** **(** :ref:`RID<class_RID>` obstacle **)** |const|

Returns ``true`` if the specified ``obstacle`` is paused.

.. rst-class:: classref-item-separator

----

.. _class_NavigationServer2D_method_obstacle_set_avoidance_enabled:

.. rst-class:: classref-method

void **obstacle_set_avoidance_enabled** **(** :ref:`RID<class_RID>` obstacle, :ref:`bool<class_bool>` enabled **)**

If ``enabled`` the provided ``obstacle`` affects avoidance using agents.

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.. _class_NavigationServer2D_method_obstacle_set_avoidance_layers:

.. rst-class:: classref-method

void **obstacle_set_avoidance_layers** **(** :ref:`RID<class_RID>` obstacle, :ref:`int<class_int>` layers **)**

Set the obstacles's ``avoidance_layers`` bitmask.

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.. _class_NavigationServer2D_method_obstacle_set_map:

.. rst-class:: classref-method

void **obstacle_set_map** **(** :ref:`RID<class_RID>` obstacle, :ref:`RID<class_RID>` map **)**

Sets the navigation map :ref:`RID<class_RID>` for the obstacle.

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.. _class_NavigationServer2D_method_obstacle_set_paused:

.. rst-class:: classref-method

void **obstacle_set_paused** **(** :ref:`RID<class_RID>` obstacle, :ref:`bool<class_bool>` paused **)**

If ``paused`` is true the specified ``obstacle`` will not be processed, e.g. affect avoidance velocities.

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.. _class_NavigationServer2D_method_obstacle_set_position:

.. rst-class:: classref-method

void **obstacle_set_position** **(** :ref:`RID<class_RID>` obstacle, :ref:`Vector2<class_Vector2>` position **)**

Sets the position of the obstacle in world space.

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.. _class_NavigationServer2D_method_obstacle_set_radius:

.. rst-class:: classref-method

void **obstacle_set_radius** **(** :ref:`RID<class_RID>` obstacle, :ref:`float<class_float>` radius **)**

Sets the radius of the dynamic obstacle.

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.. _class_NavigationServer2D_method_obstacle_set_velocity:

.. rst-class:: classref-method

void **obstacle_set_velocity** **(** :ref:`RID<class_RID>` obstacle, :ref:`Vector2<class_Vector2>` velocity **)**

Sets ``velocity`` of the dynamic ``obstacle``. Allows other agents to better predict the movement of the dynamic obstacle. Only works in combination with the radius of the obstacle.

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.. _class_NavigationServer2D_method_obstacle_set_vertices:

.. rst-class:: classref-method

void **obstacle_set_vertices** **(** :ref:`RID<class_RID>` obstacle, :ref:`PackedVector2Array<class_PackedVector2Array>` vertices **)**

Sets the outline vertices for the obstacle. If the vertices are winded in clockwise order agents will be pushed in by the obstacle, else they will be pushed out.

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.. _class_NavigationServer2D_method_query_path:

.. rst-class:: classref-method

void **query_path** **(** :ref:`NavigationPathQueryParameters2D<class_NavigationPathQueryParameters2D>` parameters, :ref:`NavigationPathQueryResult2D<class_NavigationPathQueryResult2D>` result **)** |const|

Queries a path in a given navigation map. Start and target position and other parameters are defined through :ref:`NavigationPathQueryParameters2D<class_NavigationPathQueryParameters2D>`. Updates the provided :ref:`NavigationPathQueryResult2D<class_NavigationPathQueryResult2D>` result object with the path among other results requested by the query.

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.. _class_NavigationServer2D_method_region_create:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **region_create** **(** **)**

Creates a new region.

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.. _class_NavigationServer2D_method_region_get_connection_pathway_end:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **region_get_connection_pathway_end** **(** :ref:`RID<class_RID>` region, :ref:`int<class_int>` connection **)** |const|

Returns the ending point of a connection door. ``connection`` is an index between 0 and the return value of :ref:`region_get_connections_count<class_NavigationServer2D_method_region_get_connections_count>`.

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.. _class_NavigationServer2D_method_region_get_connection_pathway_start:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **region_get_connection_pathway_start** **(** :ref:`RID<class_RID>` region, :ref:`int<class_int>` connection **)** |const|

Returns the starting point of a connection door. ``connection`` is an index between 0 and the return value of :ref:`region_get_connections_count<class_NavigationServer2D_method_region_get_connections_count>`.

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.. _class_NavigationServer2D_method_region_get_connections_count:

.. rst-class:: classref-method

:ref:`int<class_int>` **region_get_connections_count** **(** :ref:`RID<class_RID>` region **)** |const|

Returns how many connections this ``region`` has with other regions in the map.

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.. _class_NavigationServer2D_method_region_get_enter_cost:

.. rst-class:: classref-method

:ref:`float<class_float>` **region_get_enter_cost** **(** :ref:`RID<class_RID>` region **)** |const|

Returns the enter cost of this ``region``.

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.. _class_NavigationServer2D_method_region_get_map:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **region_get_map** **(** :ref:`RID<class_RID>` region **)** |const|

Returns the navigation map :ref:`RID<class_RID>` the requested ``region`` is currently assigned to.

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.. _class_NavigationServer2D_method_region_get_navigation_layers:

.. rst-class:: classref-method

:ref:`int<class_int>` **region_get_navigation_layers** **(** :ref:`RID<class_RID>` region **)** |const|

Returns the region's navigation layers.

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.. _class_NavigationServer2D_method_region_get_owner_id:

.. rst-class:: classref-method

:ref:`int<class_int>` **region_get_owner_id** **(** :ref:`RID<class_RID>` region **)** |const|

Returns the ``ObjectID`` of the object which manages this region.

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.. _class_NavigationServer2D_method_region_get_travel_cost:

.. rst-class:: classref-method

:ref:`float<class_float>` **region_get_travel_cost** **(** :ref:`RID<class_RID>` region **)** |const|

Returns the travel cost of this ``region``.

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.. _class_NavigationServer2D_method_region_get_use_edge_connections:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **region_get_use_edge_connections** **(** :ref:`RID<class_RID>` region **)** |const|

Returns whether the navigation ``region`` is set to use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.

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.. _class_NavigationServer2D_method_region_owns_point:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **region_owns_point** **(** :ref:`RID<class_RID>` region, :ref:`Vector2<class_Vector2>` point **)** |const|

Returns ``true`` if the provided ``point`` in world space is currently owned by the provided navigation ``region``. Owned in this context means that one of the region's navigation mesh polygon faces has a possible position at the closest distance to this point compared to all other navigation meshes from other navigation regions that are also registered on the navigation map of the provided region.

If multiple navigation meshes have positions at equal distance the navigation region whose polygons are processed first wins the ownership. Polygons are processed in the same order that navigation regions were registered on the NavigationServer.

\ **Note:** If navigation meshes from different navigation regions overlap (which should be avoided in general) the result might not be what is expected.

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.. _class_NavigationServer2D_method_region_set_enter_cost:

.. rst-class:: classref-method

void **region_set_enter_cost** **(** :ref:`RID<class_RID>` region, :ref:`float<class_float>` enter_cost **)**

Sets the ``enter_cost`` for this ``region``.

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.. _class_NavigationServer2D_method_region_set_map:

.. rst-class:: classref-method

void **region_set_map** **(** :ref:`RID<class_RID>` region, :ref:`RID<class_RID>` map **)**

Sets the map for the region.

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.. _class_NavigationServer2D_method_region_set_navigation_layers:

.. rst-class:: classref-method

void **region_set_navigation_layers** **(** :ref:`RID<class_RID>` region, :ref:`int<class_int>` navigation_layers **)**

Set the region's navigation layers. This allows selecting regions from a path request (when using :ref:`map_get_path<class_NavigationServer2D_method_map_get_path>`).

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.. _class_NavigationServer2D_method_region_set_navigation_polygon:

.. rst-class:: classref-method

void **region_set_navigation_polygon** **(** :ref:`RID<class_RID>` region, :ref:`NavigationPolygon<class_NavigationPolygon>` navigation_polygon **)**

Sets the ``navigation_polygon`` for the region.

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.. _class_NavigationServer2D_method_region_set_owner_id:

.. rst-class:: classref-method

void **region_set_owner_id** **(** :ref:`RID<class_RID>` region, :ref:`int<class_int>` owner_id **)**

Set the ``ObjectID`` of the object which manages this region.

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.. _class_NavigationServer2D_method_region_set_transform:

.. rst-class:: classref-method

void **region_set_transform** **(** :ref:`RID<class_RID>` region, :ref:`Transform2D<class_Transform2D>` transform **)**

Sets the global transformation for the region.

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.. _class_NavigationServer2D_method_region_set_travel_cost:

.. rst-class:: classref-method

void **region_set_travel_cost** **(** :ref:`RID<class_RID>` region, :ref:`float<class_float>` travel_cost **)**

Sets the ``travel_cost`` for this ``region``.

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.. _class_NavigationServer2D_method_region_set_use_edge_connections:

.. rst-class:: classref-method

void **region_set_use_edge_connections** **(** :ref:`RID<class_RID>` region, :ref:`bool<class_bool>` enabled **)**

If ``enabled`` the navigation ``region`` will use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.

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.. _class_NavigationServer2D_method_set_debug_enabled:

.. rst-class:: classref-method

void **set_debug_enabled** **(** :ref:`bool<class_bool>` enabled **)**

If ``true`` enables debug mode on the NavigationServer.

.. |virtual| replace:: :abbr:`virtual (This method should typically be overridden by the user to have any effect.)`
.. |const| replace:: :abbr:`const (This method has no side effects. It doesn't modify any of the instance's member variables.)`
.. |vararg| replace:: :abbr:`vararg (This method accepts any number of arguments after the ones described here.)`
.. |constructor| replace:: :abbr:`constructor (This method is used to construct a type.)`
.. |static| replace:: :abbr:`static (This method doesn't need an instance to be called, so it can be called directly using the class name.)`
.. |operator| replace:: :abbr:`operator (This method describes a valid operator to use with this type as left-hand operand.)`
.. |bitfield| replace:: :abbr:`BitField (This value is an integer composed as a bitmask of the following flags.)`