Ported from godot4: Add more detailed Navigation Debug Visualization

- Adds more customization options to ProjectSettings.
- Displays navregion edge connections and navigation polygon edges in editor and at runtime.
- Majority of debug code moved from SceneTree to NavigationServer.
- Removes the irritating debug MeshInstance child node from NavigationRegion3D and replaces it with direct RenderingServer API.
- smix8
c394ea518e

doc/classes/NavigationServer.xml

@@ -430,6 +430,11 @@
 				Emitted when a navigation map is updated, when a region moves or is modified.
 			</description>
 		</signal>
+		<signal name="navigation_debug_changed">
+			<description>
+				Emitted when navigation debug settings are changed. Only available in debug builds.
+			</description>
+		</signal>
 	</signals>
 	<constants>
 	</constants>

doc/classes/ProjectSettings.xml

@@ -532,9 +532,39 @@
 		<member name="debug/shapes/navigation/disabled_geometry_color" type="Color" setter="" getter="" default="Color( 1, 0.7, 0.1, 0.4 )">
 			Color of the disabled navigation geometry, visible when "Visible Navigation" is enabled in the Debug menu.
 		</member>
+		<member name="debug/shapes/navigation/edge_connection_color" type="Color" setter="" getter="" default="Color(1, 0, 1, 1)">
+			Color to display edge connections between navigation regions, visible when "Visible Navigation" is enabled in the Debug menu.
+		</member>
+		<member name="debug/shapes/navigation/enable_edge_connections" type="bool" setter="" getter="" default="true">
+			If enabled, displays edge connections between navigation regions when "Visible Navigation" is enabled in the Debug menu.
+		</member>
+		<member name="debug/shapes/navigation/enable_edge_connections_xray" type="bool" setter="" getter="" default="true">
+			If enabled, displays edge connections between navigation regions through geometry when "Visible Navigation" is enabled in the Debug menu.
+		</member>
+		<member name="debug/shapes/navigation/enable_edge_lines" type="bool" setter="" getter="" default="true">
+			If enabled, displays navigation mesh polygon edges when "Visible Navigation" is enabled in the Debug menu.
+		</member>
+		<member name="debug/shapes/navigation/enable_edge_lines_xray" type="bool" setter="" getter="" default="true">
+			If enabled, displays navigation mesh polygon edges through geometry when "Visible Navigation" is enabled in the Debug menu.
+		</member>
+		<member name="debug/shapes/navigation/enable_geometry_face_random_color" type="bool" setter="" getter="" default="true">
+			If enabled, colorizes each navigation mesh polygon face with a random color when "Visible Navigation" is enabled in the Debug menu.
+		</member>
 		<member name="debug/shapes/navigation/geometry_color" type="Color" setter="" getter="" default="Color( 0.1, 1, 0.7, 0.4 )">
 			Color of the navigation geometry, visible when "Visible Navigation" is enabled in the Debug menu.
 		</member>
+		<member name="debug/shapes/navigation/geometry_edge_color" type="Color" setter="" getter="" default="Color(0.5, 1, 1, 1)">
+			Color to display enabled navigation mesh polygon edges, visible when "Visible Navigation" is enabled in the Debug menu.
+		</member>
+		<member name="debug/shapes/navigation/geometry_edge_disabled_color" type="Color" setter="" getter="" default="Color(0.5, 0.5, 0.5, 1)">
+			Color to display disabled navigation mesh polygon edges, visible when "Visible Navigation" is enabled in the Debug menu.
+		</member>
+		<member name="debug/shapes/navigation/geometry_face_color" type="Color" setter="" getter="" default="Color(0.5, 1, 1, 0.4)">
+			Color to display enabled navigation mesh polygon faces, visible when "Visible Navigation" is enabled in the Debug menu.
+		</member>
+		<member name="debug/shapes/navigation/geometry_face_disabled_color" type="Color" setter="" getter="" default="Color(0.5, 0.5, 0.5, 0.4)">
+			Color to display disabled navigation mesh polygon faces, visible when "Visible Navigation" is enabled in the Debug menu.
+		</member>
 		<member name="display/mouse_cursor/custom_image" type="String" setter="" getter="" default="&quot;&quot;">
 			Custom image for the mouse cursor (limited to 256×256).
 		</member>

editor/editor_node.cpp

@@ -5668,6 +5668,19 @@ void EditorNode::_project_settings_changed() {
 	tree->set_debug_navigation_color(GLOBAL_GET("debug/shapes/navigation/geometry_color"));
 	tree->set_debug_navigation_disabled_color(GLOBAL_GET("debug/shapes/navigation/disabled_geometry_color"));
 
+#ifdef DEBUG_ENABLED
+	NavigationServer::get_singleton_mut()->set_debug_navigation_edge_connection_color(GLOBAL_GET("debug/shapes/navigation/edge_connection_color"));
+	NavigationServer::get_singleton_mut()->set_debug_navigation_geometry_edge_color(GLOBAL_GET("debug/shapes/navigation/geometry_edge_color"));
+	NavigationServer::get_singleton_mut()->set_debug_navigation_geometry_face_color(GLOBAL_GET("debug/shapes/navigation/geometry_face_color"));
+	NavigationServer::get_singleton_mut()->set_debug_navigation_geometry_edge_disabled_color(GLOBAL_GET("debug/shapes/navigation/geometry_edge_disabled_color"));
+	NavigationServer::get_singleton_mut()->set_debug_navigation_geometry_face_disabled_color(GLOBAL_GET("debug/shapes/navigation/geometry_face_disabled_color"));
+	NavigationServer::get_singleton_mut()->set_debug_navigation_enable_edge_connections(GLOBAL_GET("debug/shapes/navigation/enable_edge_connections"));
+	NavigationServer::get_singleton_mut()->set_debug_navigation_enable_edge_connections_xray(GLOBAL_GET("debug/shapes/navigation/enable_edge_connections_xray"));
+	NavigationServer::get_singleton_mut()->set_debug_navigation_enable_edge_lines(GLOBAL_GET("debug/shapes/navigation/enable_edge_lines"));
+	NavigationServer::get_singleton_mut()->set_debug_navigation_enable_edge_lines_xray(GLOBAL_GET("debug/shapes/navigation/enable_edge_lines_xray"));
+	NavigationServer::get_singleton_mut()->set_debug_navigation_enable_geometry_face_random_color(GLOBAL_GET("debug/shapes/navigation/enable_geometry_face_random_color"));
+#endif // DEBUG_ENABLED
+
 	_update_title();
 }
 
@@ -5851,7 +5864,11 @@ EditorNode::EditorNode() {
 	RenderingServer::get_singleton()->textures_keep_original(true);
 	RenderingServer::get_singleton()->set_debug_generate_wireframes(true);
 
-	NavigationServer::get_singleton()->set_active(false); // no nav by default if editor
+	if (NavigationServer::get_singleton()->get_debug_enabled()) {
+		NavigationServer::get_singleton()->set_active(true);
+	} else {
+		NavigationServer::get_singleton()->set_active(false);
+	}
 
 	PhysicsServer::get_singleton()->set_active(false); // no physics by default if editor
 	Physics2DServer::get_singleton()->set_active(false); // no physics by default if editor

editor/spatial_editor_gizmos.cpp

@@ -102,6 +102,7 @@
 #include "scene/resources/sphere_shape.h"
 #include "scene/resources/surface_tool.h"
 #include "scene/resources/world_3d.h"
+#include "servers/navigation_server.h"
 #include "servers/rendering_server.h"
 
 #ifdef MODULE_SKELETON_3D_ENABLED
@@ -3541,11 +3542,6 @@ void CollisionPolygonSpatialGizmoPlugin::redraw(EditorSpatialGizmo *p_gizmo) {
 ////
 
 NavigationMeshSpatialGizmoPlugin::NavigationMeshSpatialGizmoPlugin() {
-	create_material("navigation_edge_material", EDITOR_DEF("editors/3d_gizmos/gizmo_colors/navigation_edge", Color(0.5, 1, 1)));
-	create_material("navigation_edge_material_disabled", EDITOR_DEF("editors/3d_gizmos/gizmo_colors/navigation_edge_disabled", Color(0.7, 0.7, 0.7)));
-	create_material("navigation_solid_material", EDITOR_DEF("editors/3d_gizmos/gizmo_colors/navigation_solid", Color(0.5, 1, 1, 0.4)));
-	create_material("navigation_solid_material_disabled", EDITOR_DEF("editors/3d_gizmos/gizmo_colors/navigation_solid_disabled", Color(0.7, 0.7, 0.7, 0.4)));
-
 	Color baking_aabb_material_color = Color(0.8, 0.5, 0.7);
 	baking_aabb_material_color.a = 0.1;
 	create_material("baking_aabb_material", baking_aabb_material_color);
@@ -3564,33 +3560,28 @@ int NavigationMeshSpatialGizmoPlugin::get_priority() const {
 }
 
 void NavigationMeshSpatialGizmoPlugin::redraw(EditorSpatialGizmo *p_gizmo) {
-	NavigationMeshInstance *navmesh = Object::cast_to<NavigationMeshInstance>(p_gizmo->get_spatial_node());
+	NavigationMeshInstance *navmesh_instance = Object::cast_to<NavigationMeshInstance>(p_gizmo->get_spatial_node());
-
-	Ref<Material> edge_material = get_material("navigation_edge_material", p_gizmo);
-	Ref<Material> edge_material_disabled = get_material("navigation_edge_material_disabled", p_gizmo);
-	Ref<Material> solid_material = get_material("navigation_solid_material", p_gizmo);
-	Ref<Material> solid_material_disabled = get_material("navigation_solid_material_disabled", p_gizmo);
 
 	p_gizmo->clear();
-	Ref<NavigationMesh> navmeshie = navmesh->get_navigation_mesh();
+	Ref<NavigationMesh> navigationmesh = navmesh_instance->get_navigation_mesh();
-	if (navmeshie.is_null()) {
+	if (navigationmesh.is_null()) {
 		return;
 	}
 
-	AABB baking_aabb = navmeshie->get_filter_baking_aabb();
+	AABB baking_aabb = navigationmesh->get_filter_baking_aabb();
 	if (!baking_aabb.has_no_volume()) {
-		Vector3 baking_aabb_offset = navmeshie->get_filter_baking_aabb_offset();
+		Vector3 baking_aabb_offset = navigationmesh->get_filter_baking_aabb_offset();
 		if (p_gizmo->is_selected()) {
 			Ref<Material> material = get_material("baking_aabb_material", p_gizmo);
 			p_gizmo->add_solid_box(material, baking_aabb.get_size(), baking_aabb.get_center() + baking_aabb_offset);
 		}
 	}
 
-	PoolVector<Vector3> vertices = navmeshie->get_vertices();
+	PoolVector<Vector3> vertices = navigationmesh->get_vertices();
 	PoolVector<Vector3>::Read vr = vertices.read();
 	List<Face3> faces;
-	for (int i = 0; i < navmeshie->get_polygon_count(); i++) {
+	for (int i = 0; i < navigationmesh->get_polygon_count(); i++) {
-		Vector<int> p = navmeshie->get_polygon(i);
+		Vector<int> p = navigationmesh->get_polygon(i);
 
 		for (int j = 2; j < p.size(); j++) {
 			Face3 f;
@@ -3649,17 +3640,90 @@ void NavigationMeshSpatialGizmoPlugin::redraw(EditorSpatialGizmo *p_gizmo) {
 	Ref<TriangleMesh> tmesh = memnew(TriangleMesh);
 	tmesh->create(tmeshfaces);
 
-	if (lines.size()) {
-		p_gizmo->add_lines(lines, navmesh->is_enabled() ? edge_material : edge_material_disabled);
-	}
 	p_gizmo->add_collision_triangles(tmesh);
-	Ref<ArrayMesh> m = memnew(ArrayMesh);
+
-	Array a;
+	Ref<ArrayMesh> debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
-	a.resize(Mesh::ARRAY_MAX);
+	int polygon_count = navigationmesh->get_polygon_count();
-	a[0] = tmeshfaces;
+
-	m->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, a);
+	// build geometry face surface
-	m->surface_set_material(0, navmesh->is_enabled() ? solid_material : solid_material_disabled);
+	Vector<Vector3> face_vertex_array;
-	p_gizmo->add_mesh(m);
+	face_vertex_array.resize(polygon_count * 3);
+
+	for (int i = 0; i < polygon_count; i++) {
+		Vector<int> polygon = navigationmesh->get_polygon(i);
+
+		face_vertex_array.push_back(vertices[polygon[0]]);
+		face_vertex_array.push_back(vertices[polygon[1]]);
+		face_vertex_array.push_back(vertices[polygon[2]]);
+	}
+
+	Array face_mesh_array;
+	face_mesh_array.resize(Mesh::ARRAY_MAX);
+	face_mesh_array[Mesh::ARRAY_VERTEX] = face_vertex_array;
+
+	// if enabled add vertex colors to colorize each face individually
+	bool enabled_geometry_face_random_color = NavigationServer::get_singleton()->get_debug_navigation_enable_geometry_face_random_color();
+	if (enabled_geometry_face_random_color) {
+		Color debug_navigation_geometry_face_color = NavigationServer::get_singleton()->get_debug_navigation_geometry_face_color();
+		Color polygon_color = debug_navigation_geometry_face_color;
+
+		Vector<Color> face_color_array;
+		face_color_array.resize(polygon_count * 3);
+
+		for (int i = 0; i < polygon_count; i++) {
+			polygon_color = debug_navigation_geometry_face_color * (Color(Math::randf(), Math::randf(), Math::randf()));
+
+			Vector<int> polygon = navigationmesh->get_polygon(i);
+
+			face_color_array.push_back(polygon_color);
+			face_color_array.push_back(polygon_color);
+			face_color_array.push_back(polygon_color);
+		}
+		face_mesh_array[Mesh::ARRAY_COLOR] = face_color_array;
+	}
+
+	debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, face_mesh_array);
+	Ref<SpatialMaterial> debug_geometry_face_material = NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_face_material();
+	debug_mesh->surface_set_material(0, debug_geometry_face_material);
+
+	// if enabled build geometry edge line surface
+	bool enabled_edge_lines = NavigationServer::get_singleton()->get_debug_navigation_enable_edge_lines();
+
+	if (enabled_edge_lines) {
+		Vector<Vector3> line_vertex_array;
+		line_vertex_array.resize(polygon_count * 6);
+
+		for (int i = 0; i < polygon_count; i++) {
+			Vector<int> polygon = navigationmesh->get_polygon(i);
+
+			line_vertex_array.push_back(vertices[polygon[0]]);
+			line_vertex_array.push_back(vertices[polygon[1]]);
+			line_vertex_array.push_back(vertices[polygon[1]]);
+			line_vertex_array.push_back(vertices[polygon[2]]);
+			line_vertex_array.push_back(vertices[polygon[2]]);
+			line_vertex_array.push_back(vertices[polygon[0]]);
+		}
+
+		Array line_mesh_array;
+		line_mesh_array.resize(Mesh::ARRAY_MAX);
+		line_mesh_array[Mesh::ARRAY_VERTEX] = line_vertex_array;
+		debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, line_mesh_array);
+		Ref<SpatialMaterial> debug_geometry_edge_material = NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_edge_material();
+		debug_mesh->surface_set_material(1, debug_geometry_edge_material);
+	}
+
+	if (!navmesh_instance->is_enabled()) {
+		if (debug_mesh.is_valid()) {
+			if (debug_mesh->get_surface_count() > 0) {
+				debug_mesh->surface_set_material(0, NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_face_disabled_material());
+			}
+			if (debug_mesh->get_surface_count() > 1) {
+				debug_mesh->surface_set_material(1, NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_edge_disabled_material());
+			}
+		}
+	}
+
+	p_gizmo->add_mesh(debug_mesh);
 	p_gizmo->add_collision_segments(lines);
 }
 

main/main.cpp

@@ -1926,6 +1926,8 @@ bool Main::start() {
 		}
 		if (debug_navigation) {
 			sml->set_debug_navigation_hint(true);
+			NavigationServer::get_singleton()->set_active(true);
+			NavigationServer::get_singleton_mut()->set_debug_enabled(true);
 		}
 #endif
 

scene/2d/navigation_region_2d.cpp

@@ -30,14 +30,15 @@
 
 #include "navigation_region_2d.h"
 
-#include "core/core_string_names.h"
 #include "core/config/engine.h"
+#include "core/core_string_names.h"
 #include "core/os/mutex.h"
 #include "navigation_2d.h"
 #include "scene/resources/navigation_mesh.h"
+#include "scene/resources/navigation_polygon.h"
 #include "scene/resources/world_2d.h"
 #include "servers/navigation_2d_server.h"
-#include "scene/resources/navigation_polygon.h"
+#include "servers/navigation_server.h"
 
 #include "thirdparty/misc/triangulator.h"
 
@@ -63,9 +64,11 @@ void NavigationRegion2D::set_enabled(bool p_enabled) {
 		Navigation2DServer::get_singleton_mut()->connect("map_changed", this, "_map_changed");
 	}
 
-	if (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint()) {
+#ifdef DEBUG_ENABLED
+	if (Engine::get_singleton()->is_editor_hint() || NavigationServer::get_singleton()->get_debug_enabled()) {
 		update();
 	}
+#endif // DEBUG_ENABLED
 }
 
 bool NavigationRegion2D::is_enabled() const {
@@ -155,7 +158,8 @@ void NavigationRegion2D::_notification(int p_what) {
 			}
 		} break;
 		case NOTIFICATION_DRAW: {
-			if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint()) && navpoly.is_valid()) {
+#ifdef DEBUG_ENABLED
+			if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || NavigationServer::get_singleton()->get_debug_enabled()) && navpoly.is_valid()) {
 				PoolVector<Vector2> verts = navpoly->get_vertices();
 				if (verts.size() < 3) {
 					return;
@@ -163,12 +167,12 @@ void NavigationRegion2D::_notification(int p_what) {
 
 				Color color;
 				if (enabled) {
-					color = get_tree()->get_debug_navigation_color();
+					color = NavigationServer::get_singleton()->get_debug_navigation_geometry_face_color();
 				} else {
-					color = get_tree()->get_debug_navigation_disabled_color();
+					color = NavigationServer::get_singleton()->get_debug_navigation_geometry_face_disabled_color();
 				}
 
-				Color doors_color = color.lightened(0.2);
+				Color doors_color = NavigationServer::get_singleton()->get_debug_navigation_edge_connection_color();
 
 				RandomPCG rand;
 
@@ -216,6 +220,7 @@ void NavigationRegion2D::_notification(int p_what) {
 					draw_arc(b, radius, angle - Math_PI / 2.0, angle + Math_PI / 2.0, 10, doors_color);
 				}
 			}
+#endif // DEBUG_ENABLED
 		} break;
 	}
 }
@@ -255,11 +260,13 @@ void NavigationRegion2D::_navpoly_changed() {
 }
 
 void NavigationRegion2D::_map_changed(RID p_map) {
+#ifdef DEBUG_ENABLED
 	if (navigation != nullptr && enabled && (navigation->get_rid() == p_map)) {
 		update();
 	} else if (is_inside_tree() && enabled && (get_world_2d()->get_navigation_map() == p_map)) {
 		update();
 	}
+#endif // DEBUG_ENABLED
 }
 
 String NavigationRegion2D::get_configuration_warning() const {
@@ -321,8 +328,18 @@ NavigationRegion2D::NavigationRegion2D() {
 
 	Navigation2DServer::get_singleton()->region_set_enter_cost(region, get_enter_cost());
 	Navigation2DServer::get_singleton()->region_set_travel_cost(region, get_travel_cost());
+
+#ifdef DEBUG_ENABLED
+	Navigation2DServer::get_singleton_mut()->connect("map_changed", this, "_map_changed");
+	NavigationServer::get_singleton_mut()->connect("navigation_debug_changed", this, "_map_changed");
+#endif // DEBUG_ENABLED
 }
 
 NavigationRegion2D::~NavigationRegion2D() {
 	Navigation2DServer::get_singleton()->free(region);
+
+#ifdef DEBUG_ENABLED
+	Navigation2DServer::get_singleton_mut()->disconnect("map_changed", this, "_map_changed");
+	NavigationServer::get_singleton_mut()->disconnect("navigation_debug_changed", this, "_map_changed");
+#endif // DEBUG_ENABLED
 }

scene/3d/navigation_mesh_instance.cpp

@@ -35,8 +35,8 @@
 #include "navigation.h"
 #include "scene/resources/mesh.h"
 #include "scene/resources/navigation_mesh.h"
-#include "servers/navigation_server.h"
 #include "scene/resources/world_3d.h"
+#include "servers/navigation_server.h"
 
 void NavigationMeshInstance::set_enabled(bool p_enabled) {
 	if (enabled == p_enabled) {
@@ -58,14 +58,29 @@ void NavigationMeshInstance::set_enabled(bool p_enabled) {
 		}
 	}
 
-	if (debug_view) {
+#ifdef DEBUG_ENABLED
-		MeshInstance *dm = Object::cast_to<MeshInstance>(debug_view);
+	if (debug_instance.is_valid()) {
-		if (is_enabled()) {
+		if (!is_enabled()) {
-			dm->set_material_override(get_tree()->get_debug_navigation_material());
+			if (debug_mesh.is_valid()) {
+				if (debug_mesh->get_surface_count() > 0) {
+					RS::get_singleton()->instance_set_surface_material(debug_instance, 0, NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_face_disabled_material()->get_rid());
+				}
+				if (debug_mesh->get_surface_count() > 1) {
+					RS::get_singleton()->instance_set_surface_material(debug_instance, 1, NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_edge_disabled_material()->get_rid());
+				}
+			}
 		} else {
-			dm->set_material_override(get_tree()->get_debug_navigation_disabled_material());
+			if (debug_mesh.is_valid()) {
+				if (debug_mesh->get_surface_count() > 0) {
+					RS::get_singleton()->instance_set_surface_material(debug_instance, 0, RID());
+				}
+				if (debug_mesh->get_surface_count() > 1) {
+					RS::get_singleton()->instance_set_surface_material(debug_instance, 1, RID());
+				}
+			}
 		}
 	}
+#endif // DEBUG_ENABLED
 
 	update_gizmos();
 }
@@ -130,40 +145,47 @@ void NavigationMeshInstance::_notification(int p_what) {
 				NavigationServer::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
 			}
 
-			if (navmesh.is_valid() && get_tree()->is_debugging_navigation_hint()) {
+#ifdef DEBUG_ENABLED
-				MeshInstance *dm = memnew(MeshInstance);
+			if (NavigationServer::get_singleton()->get_debug_enabled()) {
-				dm->set_mesh(navmesh->get_debug_mesh());
+				_update_debug_mesh();
-				if (is_enabled()) {
-					dm->set_material_override(get_tree()->get_debug_navigation_material());
-				} else {
-					dm->set_material_override(get_tree()->get_debug_navigation_disabled_material());
-				}
-				add_child(dm);
-				debug_view = dm;
 			}
+#endif // DEBUG_ENABLED
 
 		} break;
 		case NOTIFICATION_TRANSFORM_CHANGED: {
 			NavigationServer::get_singleton()->region_set_transform(region, get_global_transform());
 
+#ifdef DEBUG_ENABLED
+			if (is_inside_tree() && debug_instance.is_valid()) {
+				RS::get_singleton()->instance_set_transform(debug_instance, get_global_transform());
+			}
+#endif // DEBUG_ENABLED
+
 		} break;
 		case NOTIFICATION_EXIT_TREE: {
 			if (navigation) {
 				NavigationServer::get_singleton()->region_set_map(region, RID());
 			}
 
-			if (debug_view) {
-				debug_view->queue_delete();
-				debug_view = nullptr;
-			}
 			navigation = nullptr;
+
+#ifdef DEBUG_ENABLED
+			if (debug_instance.is_valid()) {
+				RS::get_singleton()->instance_set_visible(debug_instance, false);
+			}
+			if (debug_edge_connections_instance.is_valid()) {
+				RS::get_singleton()->instance_set_visible(debug_edge_connections_instance, false);
+			}
+#endif // DEBUG_ENABLED
+
 		} break;
 	}
 }
 
 void NavigationMeshInstance::set_navigation_mesh(const Ref<NavigationMesh> &p_navmesh) {
-	if (p_navmesh == navmesh)
+	if (p_navmesh == navmesh) {
 		return;
+	}
 
 	if (navmesh.is_valid()) {
 		navmesh->remove_change_receptor(this);
@@ -177,20 +199,21 @@ void NavigationMeshInstance::set_navigation_mesh(const Ref<NavigationMesh> &p_na
 
 	NavigationServer::get_singleton()->region_set_navmesh(region, p_navmesh);
 
-	if (debug_view == nullptr && is_inside_tree() && navmesh.is_valid() && get_tree()->is_debugging_navigation_hint()) {
+#ifdef DEBUG_ENABLED
-		MeshInstance *dm = memnew(MeshInstance);
+	if (is_inside_tree() && NavigationServer::get_singleton()->get_debug_enabled()) {
-		dm->set_mesh(navmesh->get_debug_mesh());
+		if (navmesh.is_valid()) {
-		if (is_enabled()) {
+			_update_debug_mesh();
-			dm->set_material_override(get_tree()->get_debug_navigation_material());
+			_update_debug_edge_connections_mesh();
 		} else {
-			dm->set_material_override(get_tree()->get_debug_navigation_disabled_material());
+			if (debug_instance.is_valid()) {
+				RS::get_singleton()->instance_set_visible(debug_instance, false);
+			}
+			if (debug_edge_connections_instance.is_valid()) {
+				RS::get_singleton()->instance_set_visible(debug_edge_connections_instance, false);
+			}
 		}
-		add_child(dm);
-		debug_view = dm;
-	}
-	if (debug_view && navmesh.is_valid()) {
-		Object::cast_to<MeshInstance>(debug_view)->set_mesh(navmesh->get_debug_mesh());
 	}
+#endif // DEBUG_ENABLED
 
 	emit_signal("navigation_mesh_changed");
 
@@ -250,6 +273,23 @@ void NavigationMeshInstance::_bake_finished(Ref<NavigationMesh> p_nav_mesh) {
 	emit_signal("bake_finished");
 }
 
+void NavigationMeshInstance::_navigation_changed() {
+	update_gizmos();
+	update_configuration_warning();
+
+#ifdef DEBUG_ENABLED
+	_update_debug_edge_connections_mesh();
+#endif // DEBUG_ENABLED
+}
+
+#ifdef DEBUG_ENABLED
+void NavigationMeshInstance::_navigation_map_changed(RID p_map) {
+	if (is_inside_tree() && p_map == get_world_3d()->get_navigation_map()) {
+		_update_debug_edge_connections_mesh();
+	}
+}
+#endif // DEBUG_ENABLED
+
 String NavigationMeshInstance::get_configuration_warning() const {
 	if (!is_visible_in_tree() || !is_inside_tree()) {
 		return String();
@@ -282,6 +322,11 @@ void NavigationMeshInstance::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("bake_navigation_mesh", "on_thread"), &NavigationMeshInstance::bake_navigation_mesh, DEFVAL(true));
 	ClassDB::bind_method(D_METHOD("_bake_finished", "nav_mesh"), &NavigationMeshInstance::_bake_finished);
+	ClassDB::bind_method(D_METHOD("_navigation_changed"), &NavigationMeshInstance::_navigation_changed);
+
+	ClassDB::bind_method(D_METHOD("_update_debug_mesh"), &NavigationMeshInstance::_update_debug_mesh);
+	ClassDB::bind_method(D_METHOD("_update_debug_edge_connections_mesh"), &NavigationMeshInstance::_update_debug_edge_connections_mesh);
+	ClassDB::bind_method(D_METHOD("_navigation_map_changed"), &NavigationMeshInstance::_navigation_map_changed);
 
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "navmesh", PROPERTY_HINT_RESOURCE_TYPE, "NavigationMesh"), "set_navigation_mesh", "get_navigation_mesh");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
@@ -310,6 +355,12 @@ NavigationMeshInstance::NavigationMeshInstance() {
 	NavigationServer::get_singleton()->region_set_enter_cost(region, get_enter_cost());
 	NavigationServer::get_singleton()->region_set_travel_cost(region, get_travel_cost());
 	enabled = true;
+
+#ifdef DEBUG_ENABLED
+	NavigationServer::get_singleton_mut()->connect("map_changed", this, "_navigation_map_changed");
+	NavigationServer::get_singleton_mut()->connect("navigation_debug_changed", this, "_update_debug_mesh");
+	NavigationServer::get_singleton_mut()->connect("navigation_debug_changed", this, "_update_debug_edge_connections_mesh");
+#endif // DEBUG_ENABLED
 }
 
 NavigationMeshInstance::~NavigationMeshInstance() {
@@ -317,4 +368,246 @@ NavigationMeshInstance::~NavigationMeshInstance() {
 		navmesh->remove_change_receptor(this);
 	}
 	NavigationServer::get_singleton()->free(region);
+
+#ifdef DEBUG_ENABLED
+	NavigationServer::get_singleton_mut()->disconnect("map_changed", this, "_navigation_map_changed");
+	NavigationServer::get_singleton_mut()->disconnect("navigation_debug_changed", this, "_update_debug_mesh");
+	NavigationServer::get_singleton_mut()->disconnect("navigation_debug_changed", this, "_update_debug_edge_connections_mesh");
+
+	if (debug_instance.is_valid()) {
+		RenderingServer::get_singleton()->free(debug_instance);
+	}
+	if (debug_mesh.is_valid()) {
+		RenderingServer::get_singleton()->free(debug_mesh->get_rid());
+	}
+	if (debug_edge_connections_instance.is_valid()) {
+		RenderingServer::get_singleton()->free(debug_edge_connections_instance);
+	}
+	if (debug_edge_connections_mesh.is_valid()) {
+		RenderingServer::get_singleton()->free(debug_edge_connections_mesh->get_rid());
+	}
+#endif // DEBUG_ENABLED
 }
+
+#ifdef DEBUG_ENABLED
+void NavigationMeshInstance::_update_debug_mesh() {
+	if (!NavigationServer::get_singleton()->get_debug_enabled()) {
+		if (debug_instance.is_valid()) {
+			RS::get_singleton()->instance_set_visible(debug_instance, false);
+		}
+		return;
+	}
+
+	if (!navmesh.is_valid()) {
+		if (debug_instance.is_valid()) {
+			RS::get_singleton()->instance_set_visible(debug_instance, false);
+		}
+		return;
+	}
+
+	if (!debug_instance.is_valid()) {
+		debug_instance = RenderingServer::get_singleton()->instance_create();
+	}
+
+	if (!debug_mesh.is_valid()) {
+		debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
+	}
+
+	debug_mesh->clear_surfaces();
+
+	bool enabled_geometry_face_random_color = NavigationServer::get_singleton()->get_debug_navigation_enable_geometry_face_random_color();
+	bool enabled_edge_lines = NavigationServer::get_singleton()->get_debug_navigation_enable_edge_lines();
+
+	PoolVector<Vector3> vertices = navmesh->get_vertices();
+	if (vertices.size() == 0) {
+		return;
+	}
+
+	int polygon_count = navmesh->get_polygon_count();
+	if (polygon_count == 0) {
+		return;
+	}
+
+	Vector<Vector3> face_vertex_array;
+	face_vertex_array.resize(polygon_count * 3);
+
+	Vector<Color> face_color_array;
+	if (enabled_geometry_face_random_color) {
+		face_color_array.resize(polygon_count * 3);
+	}
+
+	Vector<Vector3> line_vertex_array;
+	if (enabled_edge_lines) {
+		line_vertex_array.resize(polygon_count * 6);
+	}
+
+	Color debug_navigation_geometry_face_color = NavigationServer::get_singleton()->get_debug_navigation_geometry_face_color();
+
+	Ref<SpatialMaterial> face_material = NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_face_material();
+	Ref<SpatialMaterial> line_material = NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_edge_material();
+
+	Color polygon_color = debug_navigation_geometry_face_color;
+
+	for (int i = 0; i < polygon_count; i++) {
+		if (enabled_geometry_face_random_color) {
+			polygon_color = debug_navigation_geometry_face_color * (Color(Math::randf(), Math::randf(), Math::randf()));
+		}
+
+		Vector<int> polygon = navmesh->get_polygon(i);
+
+		face_vertex_array.push_back(vertices[polygon[0]]);
+		face_vertex_array.push_back(vertices[polygon[1]]);
+		face_vertex_array.push_back(vertices[polygon[2]]);
+		if (enabled_geometry_face_random_color) {
+			face_color_array.push_back(polygon_color);
+			face_color_array.push_back(polygon_color);
+			face_color_array.push_back(polygon_color);
+		}
+
+		if (enabled_edge_lines) {
+			line_vertex_array.push_back(vertices[polygon[0]]);
+			line_vertex_array.push_back(vertices[polygon[1]]);
+			line_vertex_array.push_back(vertices[polygon[1]]);
+			line_vertex_array.push_back(vertices[polygon[2]]);
+			line_vertex_array.push_back(vertices[polygon[2]]);
+			line_vertex_array.push_back(vertices[polygon[0]]);
+		}
+	}
+
+	Array face_mesh_array;
+	face_mesh_array.resize(Mesh::ARRAY_MAX);
+	face_mesh_array[Mesh::ARRAY_VERTEX] = face_vertex_array;
+	if (enabled_geometry_face_random_color) {
+		face_mesh_array[Mesh::ARRAY_COLOR] = face_color_array;
+	}
+	debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, face_mesh_array);
+	debug_mesh->surface_set_material(0, face_material);
+
+	if (enabled_edge_lines) {
+		Array line_mesh_array;
+		line_mesh_array.resize(Mesh::ARRAY_MAX);
+		line_mesh_array[Mesh::ARRAY_VERTEX] = line_vertex_array;
+		debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, line_mesh_array);
+		debug_mesh->surface_set_material(1, line_material);
+	}
+
+	RS::get_singleton()->instance_set_base(debug_instance, debug_mesh->get_rid());
+	if (is_inside_tree()) {
+		RS::get_singleton()->instance_set_scenario(debug_instance, get_world_3d()->get_scenario());
+		RS::get_singleton()->instance_set_visible(debug_instance, is_visible_in_tree());
+	}
+	if (!is_enabled()) {
+		if (debug_mesh.is_valid()) {
+			if (debug_mesh->get_surface_count() > 0) {
+				RS::get_singleton()->instance_set_surface_material(debug_instance, 0, NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_face_disabled_material()->get_rid());
+			}
+			if (debug_mesh->get_surface_count() > 1) {
+				RS::get_singleton()->instance_set_surface_material(debug_instance, 1, NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_edge_disabled_material()->get_rid());
+			}
+		}
+	} else {
+		if (debug_mesh.is_valid()) {
+			if (debug_mesh->get_surface_count() > 0) {
+				RS::get_singleton()->instance_set_surface_material(debug_instance, 0, RID());
+			}
+			if (debug_mesh->get_surface_count() > 1) {
+				RS::get_singleton()->instance_set_surface_material(debug_instance, 1, RID());
+			}
+		}
+	}
+}
+#endif // DEBUG_ENABLED
+
+#ifdef DEBUG_ENABLED
+void NavigationMeshInstance::_update_debug_edge_connections_mesh() {
+	if (!NavigationServer::get_singleton()->get_debug_enabled()) {
+		if (debug_edge_connections_instance.is_valid()) {
+			RS::get_singleton()->instance_set_visible(debug_edge_connections_instance, false);
+		}
+		return;
+	}
+
+	if (!is_inside_tree()) {
+		return;
+	}
+
+	if (!navmesh.is_valid()) {
+		if (debug_edge_connections_instance.is_valid()) {
+			RS::get_singleton()->instance_set_visible(debug_edge_connections_instance, false);
+		}
+		return;
+	}
+
+	if (!debug_edge_connections_instance.is_valid()) {
+		debug_edge_connections_instance = RenderingServer::get_singleton()->instance_create();
+	}
+
+	if (!debug_edge_connections_mesh.is_valid()) {
+		debug_edge_connections_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
+	}
+
+	debug_edge_connections_mesh->clear_surfaces();
+
+	float edge_connection_margin = NavigationServer::get_singleton()->map_get_edge_connection_margin(get_world_3d()->get_navigation_map());
+	float half_edge_connection_margin = edge_connection_margin * 0.5;
+	int connections_count = NavigationServer::get_singleton()->region_get_connections_count(region);
+
+	if (connections_count == 0) {
+		RS::get_singleton()->instance_set_visible(debug_edge_connections_instance, false);
+		return;
+	}
+
+	Vector<Vector3> vertex_array;
+
+	for (int i = 0; i < connections_count; i++) {
+		Vector3 connection_pathway_start = NavigationServer::get_singleton()->region_get_connection_pathway_start(region, i);
+		Vector3 connection_pathway_end = NavigationServer::get_singleton()->region_get_connection_pathway_end(region, i);
+
+		Vector3 direction_start_end = connection_pathway_start.direction_to(connection_pathway_end);
+		Vector3 direction_end_start = connection_pathway_end.direction_to(connection_pathway_start);
+
+		Vector3 start_right_dir = direction_start_end.cross(Vector3(0, 1, 0));
+		Vector3 start_left_dir = -start_right_dir;
+
+		Vector3 end_right_dir = direction_end_start.cross(Vector3(0, 1, 0));
+		Vector3 end_left_dir = -end_right_dir;
+
+		Vector3 left_start_pos = connection_pathway_start + (start_left_dir * half_edge_connection_margin);
+		Vector3 right_start_pos = connection_pathway_start + (start_right_dir * half_edge_connection_margin);
+		Vector3 left_end_pos = connection_pathway_end + (end_right_dir * half_edge_connection_margin);
+		Vector3 right_end_pos = connection_pathway_end + (end_left_dir * half_edge_connection_margin);
+
+		vertex_array.push_back(right_end_pos);
+		vertex_array.push_back(left_start_pos);
+		vertex_array.push_back(right_start_pos);
+
+		vertex_array.push_back(left_end_pos);
+		vertex_array.push_back(right_end_pos);
+		vertex_array.push_back(right_start_pos);
+	}
+
+	if (vertex_array.size() == 0) {
+		return;
+	}
+
+	Ref<SpatialMaterial> edge_connections_material = NavigationServer::get_singleton_mut()->get_debug_navigation_edge_connections_material();
+
+	Array mesh_array;
+	mesh_array.resize(Mesh::ARRAY_MAX);
+	mesh_array[Mesh::ARRAY_VERTEX] = vertex_array;
+
+	debug_edge_connections_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, mesh_array);
+	debug_edge_connections_mesh->surface_set_material(0, edge_connections_material);
+
+	RS::get_singleton()->instance_set_base(debug_edge_connections_instance, debug_edge_connections_mesh->get_rid());
+	RS::get_singleton()->instance_set_visible(debug_edge_connections_instance, is_visible_in_tree());
+	if (is_inside_tree()) {
+		RS::get_singleton()->instance_set_scenario(debug_edge_connections_instance, get_world_3d()->get_scenario());
+	}
+
+	bool enable_edge_connections = NavigationServer::get_singleton()->get_debug_navigation_enable_edge_connections();
+	if (!enable_edge_connections) {
+		RS::get_singleton()->instance_set_visible(debug_edge_connections_instance, false);
+	}
+}
+#endif // DEBUG_ENABLED

scene/3d/navigation_mesh_instance.h

@@ -50,9 +50,20 @@ class NavigationMeshInstance : public Spatial {
 	uint32_t navigation_layers = 1;
 
 	Navigation *navigation = nullptr;
-	Node *debug_view = nullptr;
 	Thread bake_thread;
 
+#ifdef DEBUG_ENABLED
+	RID debug_instance;
+	RID debug_edge_connections_instance;
+	Ref<ArrayMesh> debug_mesh;
+	Ref<ArrayMesh> debug_edge_connections_mesh;
+
+private:
+	void _update_debug_mesh();
+	void _update_debug_edge_connections_mesh();
+	void _navigation_map_changed(RID p_map);
+#endif // DEBUG_ENABLED
+
 protected:
 	void _notification(int p_what);
 	static void _bind_methods();
@@ -80,6 +91,7 @@ public:
 	/// sets the new navigation mesh and emits a signal
 	void bake_navigation_mesh(bool p_on_thread);
 	void _bake_finished(Ref<NavigationMesh> p_nav_mesh);
+	void _navigation_changed();
 
 	String get_configuration_warning() const;
 

scene/resources/navigation_mesh.cpp

@@ -30,6 +30,8 @@
 
 #include "navigation_mesh.h"
 
+#include "servers/navigation_server.h"
+
 void NavigationMesh::create_from_mesh(const Ref<Mesh> &p_mesh) {
 	ERR_FAIL_COND(p_mesh.is_null());
 
@@ -420,6 +422,101 @@ Ref<Mesh> NavigationMesh::get_debug_mesh() {
 	return debug_mesh;
 }
 
+#ifdef DEBUG_ENABLED
+Ref<ArrayMesh> NavigationMesh::_get_debug_mesh() {
+	if (debug_mesh.is_valid()) {
+		// Blocks further updates for now, code below is intended for dynamic updates e.g. when settings change.
+		return debug_mesh;
+	}
+
+	if (!debug_mesh.is_valid()) {
+		debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
+	} else {
+		debug_mesh->clear_surfaces();
+	}
+
+	if (vertices.size() == 0) {
+		return debug_mesh;
+	}
+
+	int polygon_count = get_polygon_count();
+
+	if (polygon_count < 1) {
+		// no face, no play
+		return debug_mesh;
+	}
+
+	// build geometry face surface
+	Vector<Vector3> face_vertex_array;
+	face_vertex_array.resize(polygon_count * 3);
+
+	for (int i = 0; i < polygon_count; i++) {
+		Vector<int> polygon = get_polygon(i);
+
+		face_vertex_array.push_back(vertices[polygon[0]]);
+		face_vertex_array.push_back(vertices[polygon[1]]);
+		face_vertex_array.push_back(vertices[polygon[2]]);
+	}
+
+	Array face_mesh_array;
+	face_mesh_array.resize(Mesh::ARRAY_MAX);
+	face_mesh_array[Mesh::ARRAY_VERTEX] = face_vertex_array;
+
+	// if enabled add vertex colors to colorize each face individually
+	bool enabled_geometry_face_random_color = NavigationServer::get_singleton()->get_debug_navigation_enable_geometry_face_random_color();
+	if (enabled_geometry_face_random_color) {
+		Color debug_navigation_geometry_face_color = NavigationServer::get_singleton()->get_debug_navigation_geometry_face_color();
+		Color polygon_color = debug_navigation_geometry_face_color;
+
+		Vector<Color> face_color_array;
+		face_color_array.resize(polygon_count * 3);
+
+		for (int i = 0; i < polygon_count; i++) {
+			polygon_color = debug_navigation_geometry_face_color * (Color(Math::randf(), Math::randf(), Math::randf()));
+
+			Vector<int> polygon = get_polygon(i);
+
+			face_color_array.push_back(polygon_color);
+			face_color_array.push_back(polygon_color);
+			face_color_array.push_back(polygon_color);
+		}
+		face_mesh_array[Mesh::ARRAY_COLOR] = face_color_array;
+	}
+
+	debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, face_mesh_array);
+	Ref<SpatialMaterial> debug_geometry_face_material = NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_face_material();
+	debug_mesh->surface_set_material(debug_mesh->get_surface_count(), debug_geometry_face_material);
+
+	// if enabled build geometry edge line surface
+	bool enabled_edge_lines = NavigationServer::get_singleton()->get_debug_navigation_enable_edge_lines();
+
+	if (enabled_edge_lines) {
+		Vector<Vector3> line_vertex_array;
+		line_vertex_array.resize(polygon_count * 6);
+
+		for (int i = 0; i < polygon_count; i++) {
+			Vector<int> polygon = get_polygon(i);
+
+			line_vertex_array.push_back(vertices[polygon[0]]);
+			line_vertex_array.push_back(vertices[polygon[1]]);
+			line_vertex_array.push_back(vertices[polygon[1]]);
+			line_vertex_array.push_back(vertices[polygon[2]]);
+			line_vertex_array.push_back(vertices[polygon[2]]);
+			line_vertex_array.push_back(vertices[polygon[0]]);
+		}
+
+		Array line_mesh_array;
+		line_mesh_array.resize(Mesh::ARRAY_MAX);
+		line_mesh_array[Mesh::ARRAY_VERTEX] = line_vertex_array;
+		debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, line_mesh_array);
+		Ref<SpatialMaterial> debug_geometry_edge_material = NavigationServer::get_singleton_mut()->get_debug_navigation_geometry_edge_material();
+		debug_mesh->surface_set_material(debug_mesh->get_surface_count() - 1, debug_geometry_edge_material);
+	}
+
+	return debug_mesh;
+}
+#endif
+
 void NavigationMesh::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_sample_partition_type", "sample_partition_type"), &NavigationMesh::set_sample_partition_type);
 	ClassDB::bind_method(D_METHOD("get_sample_partition_type"), &NavigationMesh::get_sample_partition_type);

scene/resources/navigation_mesh.h

@@ -197,6 +197,10 @@ public:
 
 	Ref<Mesh> get_debug_mesh();
 
+#ifdef DEBUG_ENABLED
+	Ref<ArrayMesh> _get_debug_mesh();
+#endif
+
 	NavigationMesh();
 };
 

servers/navigation_server.cpp

@@ -34,6 +34,11 @@
 #include "scene/3d/navigation_mesh_instance.h"
 #include "scene/resources/navigation_mesh.h"
 
+#ifdef DEBUG_ENABLED
+#include "core/config/project_settings.h"
+#include "scene/resources/material.h"
+#endif
+
 NavigationServer *NavigationServer::singleton = nullptr;
 
 void NavigationServer::init() {
@@ -103,6 +108,10 @@ void NavigationServer::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("process", "delta_time"), &NavigationServer::process);
 
 	ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map")));
+
+#ifdef DEBUG_ENABLED
+	ADD_SIGNAL(MethodInfo("navigation_debug_changed"));
+#endif // DEBUG_ENABLED
 }
 
 const NavigationServer *NavigationServer::get_singleton() {
@@ -116,12 +125,266 @@ NavigationServer *NavigationServer::get_singleton_mut() {
 NavigationServer::NavigationServer() {
 	ERR_FAIL_COND(singleton != nullptr);
 	singleton = this;
+
+#ifdef DEBUG_ENABLED
+	_debug_enabled = true;
+	_debug_dirty = true;
+
+	_debug_navigation_edge_connection_color = GLOBAL_DEF("debug/shapes/navigation/edge_connection_color", Color(1.0, 0.0, 1.0, 1.0));
+	_debug_navigation_geometry_edge_color = GLOBAL_DEF("debug/shapes/navigation/geometry_edge_color", Color(0.5, 1.0, 1.0, 1.0));
+	_debug_navigation_geometry_face_color = GLOBAL_DEF("debug/shapes/navigation/geometry_face_color", Color(0.5, 1.0, 1.0, 0.4));
+	_debug_navigation_geometry_edge_disabled_color = GLOBAL_DEF("debug/shapes/navigation/geometry_edge_disabled_color", Color(0.5, 0.5, 0.5, 1.0));
+	_debug_navigation_geometry_face_disabled_color = GLOBAL_DEF("debug/shapes/navigation/geometry_face_disabled_color", Color(0.5, 0.5, 0.5, 0.4));
+	_debug_navigation_enable_edge_connections = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections", true);
+	_debug_navigation_enable_edge_connections_xray = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections_xray", true);
+	_debug_navigation_enable_edge_lines = GLOBAL_DEF("debug/shapes/navigation/enable_edge_lines", true);
+	_debug_navigation_enable_edge_lines_xray = GLOBAL_DEF("debug/shapes/navigation/enable_edge_lines_xray", true);
+	_debug_navigation_enable_geometry_face_random_color = GLOBAL_DEF("debug/shapes/navigation/enable_geometry_face_random_color", true);
+#endif // DEBUG_ENABLED
 }
 
 NavigationServer::~NavigationServer() {
 	singleton = nullptr;
 }
 
+#ifdef DEBUG_ENABLED
+void NavigationServer::_emit_navigation_debug_changed_signal() {
+	if (_debug_dirty) {
+		_debug_dirty = false;
+		emit_signal("navigation_debug_changed");
+	}
+}
+#endif // DEBUG_ENABLED
+
+#ifdef DEBUG_ENABLED
+Ref<SpatialMaterial> NavigationServer::get_debug_navigation_geometry_face_material() {
+	if (_debug_navigation_geometry_face_material.is_valid()) {
+		return _debug_navigation_geometry_face_material;
+	}
+
+	bool enabled_geometry_face_random_color = get_debug_navigation_enable_geometry_face_random_color();
+
+	Color debug_navigation_geometry_face_color = get_debug_navigation_geometry_face_color();
+
+	Ref<SpatialMaterial> face_material = Ref<SpatialMaterial>(memnew(SpatialMaterial));
+	face_material->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
+	face_material->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true);
+	face_material->set_albedo(debug_navigation_geometry_face_color);
+	if (enabled_geometry_face_random_color) {
+		face_material->set_flag(SpatialMaterial::FLAG_SRGB_VERTEX_COLOR, true);
+		face_material->set_flag(SpatialMaterial::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
+	}
+
+	_debug_navigation_geometry_face_material = face_material;
+
+	return _debug_navigation_geometry_face_material;
+}
+
+Ref<SpatialMaterial> NavigationServer::get_debug_navigation_geometry_edge_material() {
+	if (_debug_navigation_geometry_edge_material.is_valid()) {
+		return _debug_navigation_geometry_edge_material;
+	}
+
+	bool enabled_edge_lines_xray = get_debug_navigation_enable_edge_lines_xray();
+
+	Color debug_navigation_geometry_edge_color = get_debug_navigation_geometry_edge_color();
+
+	Ref<SpatialMaterial> line_material = Ref<SpatialMaterial>(memnew(SpatialMaterial));
+	line_material->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
+	line_material->set_albedo(debug_navigation_geometry_edge_color);
+	if (enabled_edge_lines_xray) {
+		line_material->set_flag(SpatialMaterial::FLAG_DISABLE_DEPTH_TEST, true);
+	}
+
+	_debug_navigation_geometry_edge_material = line_material;
+
+	return _debug_navigation_geometry_edge_material;
+}
+
+Ref<SpatialMaterial> NavigationServer::get_debug_navigation_geometry_face_disabled_material() {
+	if (_debug_navigation_geometry_face_disabled_material.is_valid()) {
+		return _debug_navigation_geometry_face_disabled_material;
+	}
+
+	Color debug_navigation_geometry_face_disabled_color = get_debug_navigation_geometry_face_disabled_color();
+
+	Ref<SpatialMaterial> face_disabled_material = Ref<SpatialMaterial>(memnew(SpatialMaterial));
+	face_disabled_material->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
+	face_disabled_material->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true);
+	face_disabled_material->set_albedo(debug_navigation_geometry_face_disabled_color);
+
+	_debug_navigation_geometry_face_disabled_material = face_disabled_material;
+
+	return _debug_navigation_geometry_face_disabled_material;
+}
+
+Ref<SpatialMaterial> NavigationServer::get_debug_navigation_geometry_edge_disabled_material() {
+	if (_debug_navigation_geometry_edge_disabled_material.is_valid()) {
+		return _debug_navigation_geometry_edge_disabled_material;
+	}
+
+	bool enabled_edge_lines_xray = get_debug_navigation_enable_edge_lines_xray();
+
+	Color debug_navigation_geometry_edge_disabled_color = get_debug_navigation_geometry_edge_disabled_color();
+
+	Ref<SpatialMaterial> line_disabled_material = Ref<SpatialMaterial>(memnew(SpatialMaterial));
+	line_disabled_material->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
+	line_disabled_material->set_albedo(debug_navigation_geometry_edge_disabled_color);
+	if (enabled_edge_lines_xray) {
+		line_disabled_material->set_flag(SpatialMaterial::FLAG_DISABLE_DEPTH_TEST, true);
+	}
+
+	_debug_navigation_geometry_edge_disabled_material = line_disabled_material;
+
+	return _debug_navigation_geometry_edge_disabled_material;
+}
+
+Ref<SpatialMaterial> NavigationServer::get_debug_navigation_edge_connections_material() {
+	if (_debug_navigation_edge_connections_material.is_valid()) {
+		return _debug_navigation_edge_connections_material;
+	}
+
+	bool enabled_edge_connections_xray = get_debug_navigation_enable_edge_connections_xray();
+
+	Color debug_navigation_edge_connection_color = get_debug_navigation_edge_connection_color();
+
+	Ref<SpatialMaterial> edge_connections_material = Ref<SpatialMaterial>(memnew(SpatialMaterial));
+	edge_connections_material->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
+	edge_connections_material->set_albedo(debug_navigation_edge_connection_color);
+	if (enabled_edge_connections_xray) {
+		edge_connections_material->set_flag(SpatialMaterial::FLAG_DISABLE_DEPTH_TEST, true);
+	}
+	edge_connections_material->set_render_priority(SpatialMaterial::RENDER_PRIORITY_MAX - 2);
+
+	_debug_navigation_edge_connections_material = edge_connections_material;
+
+	return _debug_navigation_edge_connections_material;
+}
+
+void NavigationServer::set_debug_navigation_edge_connection_color(const Color &p_color) {
+	_debug_navigation_edge_connection_color = p_color;
+	if (_debug_navigation_edge_connections_material.is_valid()) {
+		_debug_navigation_edge_connections_material->set_albedo(_debug_navigation_edge_connection_color);
+	}
+}
+
+Color NavigationServer::get_debug_navigation_edge_connection_color() const {
+	return _debug_navigation_edge_connection_color;
+}
+
+void NavigationServer::set_debug_navigation_geometry_edge_color(const Color &p_color) {
+	_debug_navigation_geometry_edge_color = p_color;
+	if (_debug_navigation_geometry_edge_material.is_valid()) {
+		_debug_navigation_geometry_edge_material->set_albedo(_debug_navigation_geometry_edge_color);
+	}
+}
+
+Color NavigationServer::get_debug_navigation_geometry_edge_color() const {
+	return _debug_navigation_geometry_edge_color;
+}
+
+void NavigationServer::set_debug_navigation_geometry_face_color(const Color &p_color) {
+	_debug_navigation_geometry_face_color = p_color;
+	if (_debug_navigation_geometry_face_material.is_valid()) {
+		_debug_navigation_geometry_face_material->set_albedo(_debug_navigation_geometry_face_color);
+	}
+}
+
+Color NavigationServer::get_debug_navigation_geometry_face_color() const {
+	return _debug_navigation_geometry_face_color;
+}
+
+void NavigationServer::set_debug_navigation_geometry_edge_disabled_color(const Color &p_color) {
+	_debug_navigation_geometry_edge_disabled_color = p_color;
+	if (_debug_navigation_geometry_edge_disabled_material.is_valid()) {
+		_debug_navigation_geometry_edge_disabled_material->set_albedo(_debug_navigation_geometry_edge_disabled_color);
+	}
+}
+
+Color NavigationServer::get_debug_navigation_geometry_edge_disabled_color() const {
+	return _debug_navigation_geometry_edge_disabled_color;
+}
+
+void NavigationServer::set_debug_navigation_geometry_face_disabled_color(const Color &p_color) {
+	_debug_navigation_geometry_face_disabled_color = p_color;
+	if (_debug_navigation_geometry_face_disabled_material.is_valid()) {
+		_debug_navigation_geometry_face_disabled_material->set_albedo(_debug_navigation_geometry_face_disabled_color);
+	}
+}
+
+Color NavigationServer::get_debug_navigation_geometry_face_disabled_color() const {
+	return _debug_navigation_geometry_face_disabled_color;
+}
+
+void NavigationServer::set_debug_navigation_enable_edge_connections(const bool p_value) {
+	_debug_navigation_enable_edge_connections = p_value;
+	_debug_dirty = true;
+	call_deferred("_emit_navigation_debug_changed_signal");
+}
+
+bool NavigationServer::get_debug_navigation_enable_edge_connections() const {
+	return _debug_navigation_enable_edge_connections;
+}
+
+void NavigationServer::set_debug_navigation_enable_edge_connections_xray(const bool p_value) {
+	_debug_navigation_enable_edge_connections_xray = p_value;
+	if (_debug_navigation_edge_connections_material.is_valid()) {
+		_debug_navigation_edge_connections_material->set_flag(SpatialMaterial::FLAG_DISABLE_DEPTH_TEST, _debug_navigation_enable_edge_connections_xray);
+	}
+}
+
+bool NavigationServer::get_debug_navigation_enable_edge_connections_xray() const {
+	return _debug_navigation_enable_edge_connections_xray;
+}
+
+void NavigationServer::set_debug_navigation_enable_edge_lines(const bool p_value) {
+	_debug_navigation_enable_edge_lines = p_value;
+	_debug_dirty = true;
+	call_deferred("_emit_navigation_debug_changed_signal");
+}
+
+bool NavigationServer::get_debug_navigation_enable_edge_lines() const {
+	return _debug_navigation_enable_edge_lines;
+}
+
+void NavigationServer::set_debug_navigation_enable_edge_lines_xray(const bool p_value) {
+	_debug_navigation_enable_edge_lines_xray = p_value;
+	if (_debug_navigation_geometry_edge_material.is_valid()) {
+		_debug_navigation_geometry_edge_material->set_flag(SpatialMaterial::FLAG_DISABLE_DEPTH_TEST, _debug_navigation_enable_edge_lines_xray);
+	}
+}
+
+bool NavigationServer::get_debug_navigation_enable_edge_lines_xray() const {
+	return _debug_navigation_enable_edge_lines_xray;
+}
+
+void NavigationServer::set_debug_navigation_enable_geometry_face_random_color(const bool p_value) {
+	_debug_navigation_enable_geometry_face_random_color = p_value;
+	_debug_dirty = true;
+	call_deferred("_emit_navigation_debug_changed_signal");
+}
+
+bool NavigationServer::get_debug_navigation_enable_geometry_face_random_color() const {
+	return _debug_navigation_enable_geometry_face_random_color;
+}
+
+void NavigationServer::set_debug_enabled(bool p_enabled) {
+	if (_debug_enabled != p_enabled) {
+		_debug_dirty = true;
+	}
+
+	_debug_enabled = p_enabled;
+
+	if (_debug_dirty) {
+		call_deferred("_emit_navigation_debug_changed_signal");
+	}
+}
+
+bool NavigationServer::get_debug_enabled() const {
+	return _debug_enabled;
+}
+#endif // DEBUG_ENABLED
+
 Vector<NavigationServerManager::ClassInfo> NavigationServerManager::navigation_servers;
 int NavigationServerManager::default_server_id = -1;
 int NavigationServerManager::default_server_priority = -1;
@@ -181,4 +444,4 @@ NavigationServer *NavigationServerManager::new_server(const String &p_name) {
 	} else {
 		return navigation_servers[id].create_callback();
 	}
-}
+}

servers/navigation_server.h

@@ -36,6 +36,7 @@
 #include "core/object/reference.h"
 
 class NavigationMesh;
+class SpatialMaterial;
 
 /// This server uses the concept of internal mutability.
 /// All the constant functions can be called in multithread because internally
@@ -217,6 +218,72 @@ public:
 
 	NavigationServer();
 	virtual ~NavigationServer();
+
+#ifdef DEBUG_ENABLED
+
+	void set_debug_enabled(bool p_enabled);
+	bool get_debug_enabled() const;
+
+	void set_debug_navigation_edge_connection_color(const Color &p_color);
+	Color get_debug_navigation_edge_connection_color() const;
+
+	void set_debug_navigation_geometry_edge_color(const Color &p_color);
+	Color get_debug_navigation_geometry_edge_color() const;
+
+	void set_debug_navigation_geometry_face_color(const Color &p_color);
+	Color get_debug_navigation_geometry_face_color() const;
+
+	void set_debug_navigation_geometry_edge_disabled_color(const Color &p_color);
+	Color get_debug_navigation_geometry_edge_disabled_color() const;
+
+	void set_debug_navigation_geometry_face_disabled_color(const Color &p_color);
+	Color get_debug_navigation_geometry_face_disabled_color() const;
+
+	void set_debug_navigation_enable_edge_connections(const bool p_value);
+	bool get_debug_navigation_enable_edge_connections() const;
+
+	void set_debug_navigation_enable_edge_connections_xray(const bool p_value);
+	bool get_debug_navigation_enable_edge_connections_xray() const;
+
+	void set_debug_navigation_enable_edge_lines(const bool p_value);
+	bool get_debug_navigation_enable_edge_lines() const;
+
+	void set_debug_navigation_enable_edge_lines_xray(const bool p_value);
+	bool get_debug_navigation_enable_edge_lines_xray() const;
+
+	void set_debug_navigation_enable_geometry_face_random_color(const bool p_value);
+	bool get_debug_navigation_enable_geometry_face_random_color() const;
+
+	Ref<SpatialMaterial> get_debug_navigation_geometry_face_material();
+	Ref<SpatialMaterial> get_debug_navigation_geometry_edge_material();
+	Ref<SpatialMaterial> get_debug_navigation_geometry_face_disabled_material();
+	Ref<SpatialMaterial> get_debug_navigation_geometry_edge_disabled_material();
+	Ref<SpatialMaterial> get_debug_navigation_edge_connections_material();
+
+	void _emit_navigation_debug_changed_signal();
+
+protected:
+	bool _debug_enabled;
+	bool _debug_dirty;
+
+	Color _debug_navigation_edge_connection_color;
+	Color _debug_navigation_geometry_edge_color;
+	Color _debug_navigation_geometry_face_color;
+	Color _debug_navigation_geometry_edge_disabled_color;
+	Color _debug_navigation_geometry_face_disabled_color;
+	bool _debug_navigation_enable_edge_connections;
+	bool _debug_navigation_enable_edge_connections_xray;
+	bool _debug_navigation_enable_edge_lines;
+	bool _debug_navigation_enable_edge_lines_xray;
+	bool _debug_navigation_enable_geometry_face_random_color;
+
+	Ref<SpatialMaterial> _debug_navigation_geometry_edge_material;
+	Ref<SpatialMaterial> _debug_navigation_geometry_face_material;
+	Ref<SpatialMaterial> _debug_navigation_geometry_edge_disabled_material;
+	Ref<SpatialMaterial> _debug_navigation_geometry_face_disabled_material;
+	Ref<SpatialMaterial> _debug_navigation_edge_connections_material;
+
+#endif // DEBUG_ENABLED
 };
 
 typedef NavigationServer *(*CreateNavigationServerCallback)();