pandemonium_engine/scene/3d/navigation_mesh_instance.cpp

/*************************************************************************/
/*  navigation_mesh_instance.cpp                                         */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                      https://godotengine.org                          */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
/*                                                                       */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
/* without limitation the rights to use, copy, modify, merge, publish,   */
/* distribute, sublicense, and/or sell copies of the Software, and to    */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions:                                             */
/*                                                                       */
/* The above copyright notice and this permission notice shall be        */
/* included in all copies or substantial portions of the Software.       */
/*                                                                       */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
/*************************************************************************/

#include "navigation_mesh_instance.h"

#include "core/core_string_names.h"
#include "core/os/os.h"
#include "mesh_instance.h"
#include "navigation.h"
#include "scene/resources/mesh.h"
#include "scene/resources/navigation_mesh.h"
#include "scene/resources/navigation_mesh_source_geometry_data_3d.h"
#include "scene/resources/world_3d.h"
#include "servers/navigation/navigation_mesh_generator.h"
#include "servers/navigation_server.h"

void NavigationMeshInstance::set_enabled(bool p_enabled) {
	if (enabled == p_enabled) {
		return;
	}
	enabled = p_enabled;

	if (!is_inside_tree()) {
		return;
	}

	if (!enabled) {
		NavigationServer::get_singleton()->region_set_map(region, RID());
	} else {
		if (navigation) {
			NavigationServer::get_singleton()->region_set_map(region, navigation->get_rid());
		} else {
			if (map_override.is_valid()) {
				NavigationServer::get_singleton()->region_set_map(region, map_override);
			} else {
				NavigationServer::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
			}
		}
	}

#ifdef DEBUG_ENABLED
	if (debug_instance.is_valid()) {
		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

	update_gizmos();
}

bool NavigationMeshInstance::is_enabled() const {
	return enabled;
}

void NavigationMeshInstance::set_navigation_layers(uint32_t p_navigation_layers) {
	navigation_layers = p_navigation_layers;
	NavigationServer::get_singleton()->region_set_navigation_layers(region, navigation_layers);
}

uint32_t NavigationMeshInstance::get_navigation_layers() const {
	return navigation_layers;
}

void NavigationMeshInstance::set_enter_cost(real_t p_enter_cost) {
	ERR_FAIL_COND_MSG(p_enter_cost < 0.0, "The enter_cost must be positive.");
	if (Math::is_equal_approx(enter_cost, p_enter_cost)) {
		return;
	}

	enter_cost = p_enter_cost;

	NavigationServer::get_singleton()->region_set_enter_cost(region, p_enter_cost);
}

real_t NavigationMeshInstance::get_enter_cost() const {
	return enter_cost;
}

void NavigationMeshInstance::set_travel_cost(real_t p_travel_cost) {
	ERR_FAIL_COND_MSG(p_travel_cost < 0.0, "The travel_cost must be positive.");
	if (Math::is_equal_approx(travel_cost, p_travel_cost)) {
		return;
	}

	travel_cost = p_travel_cost;
	NavigationServer::get_singleton()->region_set_travel_cost(region, travel_cost);
}

real_t NavigationMeshInstance::get_travel_cost() const {
	return travel_cost;
}

RID NavigationMeshInstance::get_region_rid() const {
	return region;
}

/////////////////////////////

void NavigationMeshInstance::_notification(int p_what) {
	switch (p_what) {
		case NOTIFICATION_ENTER_TREE: {
			Spatial *c = this;
			while (c) {
				navigation = Object::cast_to<Navigation>(c);
				if (navigation) {
					if (enabled) {
						NavigationServer::get_singleton()->region_set_map(region, navigation->get_rid());
					}
					break;
				}

				c = c->get_parent_spatial();
			}

			if (enabled && navigation == nullptr) {
				// did not find a valid navigation node parent, fallback to default navigation map on world resource
				if (map_override.is_valid()) {
					NavigationServer::get_singleton()->region_set_map(region, map_override);
				} else {
					NavigationServer::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
				}
			}

#ifdef DEBUG_ENABLED
			if (NavigationServer::get_singleton()->get_debug_enabled()) {
				_update_debug_mesh();
			}
#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: {
			NavigationServer::get_singleton()->region_set_map(region, RID());

			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_navigation_mesh) {
	if (navmesh.is_valid()) {
		navmesh->disconnect(CoreStringNames::get_singleton()->changed, this, "_navigation_mesh_changed");
	}

	navmesh = p_navigation_mesh;

	if (navmesh.is_valid()) {
		navmesh->connect(CoreStringNames::get_singleton()->changed, this, "_navigation_mesh_changed");
	}

	_navigation_mesh_changed();
}

Ref<NavigationMesh> NavigationMeshInstance::get_navigation_mesh() const {
	return navmesh;
}

void NavigationMeshInstance::set_navigation_map(RID p_navigation_map) {
	if (map_override == p_navigation_map) {
		return;
	}

	map_override = p_navigation_map;

	NavigationServer::get_singleton()->region_set_map(region, map_override);
}

RID NavigationMeshInstance::get_navigation_map() const {
	if (map_override.is_valid()) {
		return map_override;
	} else if (is_inside_tree()) {
		return get_world_3d()->get_navigation_map();
	}
	return RID();
}

void NavigationMeshInstance::bake_navigation_mesh(bool p_on_thread) {
	ERR_FAIL_COND_MSG(!get_navigation_mesh().is_valid(), "Can't bake the navigation mesh if the `NavigationMesh` resource doesn't exist");
	if (baking_started) {
		WARN_PRINT("NavigationMesh baking already started. Wait for it to finish.");
		return;
	}
	baking_started = true;

	navmesh->clear();

	if (p_on_thread && OS::get_singleton()->get_render_thread_mode() == OS::RenderThreadMode::RENDER_SEPARATE_THREAD) {
		Ref<FuncRef> f;
		f.instance();
		f->set_instance(this);
		f->set_function("_bake_finished");

		NavigationMeshGenerator::get_singleton()->parse_and_bake_3d(navmesh, this, f);
	} else {
		Ref<NavigationMeshSourceGeometryData3D> source_geometry_data = NavigationMeshGenerator::get_singleton()->parse_3d_source_geometry_data(navmesh, this);
		NavigationMeshGenerator::get_singleton()->bake_3d_from_source_geometry_data(navmesh, source_geometry_data);
		_bake_finished(navmesh);
	}
}

void NavigationMeshInstance::_bake_finished(Ref<NavigationMesh> p_nav_mesh) {
	baking_started = false;
	set_navigation_mesh(p_nav_mesh);
	emit_signal("bake_finished");
}

void NavigationMeshInstance::_navigation_mesh_changed() {
	NavigationServer::get_singleton()->region_set_navmesh(region, navmesh);

	update_gizmos();
	update_configuration_warning();

	emit_signal("navigation_mesh_changed");

#ifdef DEBUG_ENABLED
	if (is_inside_tree() && NavigationServer::get_singleton()->get_debug_enabled()) {
		if (navmesh.is_valid()) {
			_update_debug_mesh();
			_update_debug_edge_connections_mesh();
		} else {
			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
}

#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();
	}

	if (!navmesh.is_valid()) {
		return TTR("A NavigationMesh resource must be set or created for this node to work.");
	}

	return String();
}

void NavigationMeshInstance::_bind_methods() {
	ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationMeshInstance::set_enabled);
	ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationMeshInstance::is_enabled);

	ClassDB::bind_method(D_METHOD("set_navigation_mesh", "navmesh"), &NavigationMeshInstance::set_navigation_mesh);
	ClassDB::bind_method(D_METHOD("get_navigation_mesh"), &NavigationMeshInstance::get_navigation_mesh);

	ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationMeshInstance::set_navigation_map);
	ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationMeshInstance::get_navigation_map);

	ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationMeshInstance::set_navigation_layers);
	ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationMeshInstance::get_navigation_layers);

	ClassDB::bind_method(D_METHOD("set_enter_cost", "enter_cost"), &NavigationMeshInstance::set_enter_cost);
	ClassDB::bind_method(D_METHOD("get_enter_cost"), &NavigationMeshInstance::get_enter_cost);

	ClassDB::bind_method(D_METHOD("set_travel_cost", "travel_cost"), &NavigationMeshInstance::set_travel_cost);
	ClassDB::bind_method(D_METHOD("get_travel_cost"), &NavigationMeshInstance::get_travel_cost);

	ClassDB::bind_method(D_METHOD("get_region_rid"), &NavigationMeshInstance::get_region_rid);

	ClassDB::bind_method(D_METHOD("bake_navigation_mesh", "on_thread"), &NavigationMeshInstance::bake_navigation_mesh, DEFVAL(true));
	ClassDB::bind_method(D_METHOD("_bake_finished"), &NavigationMeshInstance::_bake_finished);
	ClassDB::bind_method(D_METHOD("_navigation_mesh_changed"), &NavigationMeshInstance::_navigation_mesh_changed);

#ifdef DEBUG_ENABLED
	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);
#endif

	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");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "enter_cost"), "set_enter_cost", "get_enter_cost");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "travel_cost"), "set_travel_cost", "get_travel_cost");

	ADD_SIGNAL(MethodInfo("navigation_mesh_changed"));
	ADD_SIGNAL(MethodInfo("bake_finished"));
}

void NavigationMeshInstance::_changed_callback(Object *p_changed, const char *p_prop) {
	update_gizmos();
	update_configuration_warning();
}

NavigationMeshInstance::NavigationMeshInstance() {
	set_notify_transform(true);

	enter_cost = 0.0;
	travel_cost = 1.0;

	navigation_layers = 1;

	baking_started = false;

	region = NavigationServer::get_singleton()->region_create();
	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() {
	if (navmesh.is_valid()) {
		navmesh->disconnect(CoreStringNames::get_singleton()->changed, this, "_navigation_mesh_changed");
	}

	ERR_FAIL_NULL(NavigationServer::get_singleton());
	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");

	ERR_FAIL_NULL(RenderingServer::get_singleton());

	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();

	RandomPCG rand;
	Color polygon_color = debug_navigation_geometry_face_color;

	for (int i = 0; i < polygon_count; i++) {
		if (enabled_geometry_face_random_color) {
			// Generate the polygon color, slightly randomly modified from the settings one.
			polygon_color.set_hsv(debug_navigation_geometry_face_color.get_h() + rand.random(-1.0, 1.0) * 0.1, debug_navigation_geometry_face_color.get_s(), debug_navigation_geometry_face_color.get_v() + rand.random(-1.0, 1.0) * 0.2);
			polygon_color.a = debug_navigation_geometry_face_color.a;
		}

		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;
	//vertex_array.resize(connections_count * 6);

	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