godot-docs/classes/class_navigationserver2d.rst

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.. _class_NavigationServer2D:

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

**Experimental:** This class may be changed or removed in future versions.

**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 divided into regions, which are composed 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
---------

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

- `Navigation Polygon 2D Demo <https://godotengine.org/asset-library/asset/2722>`__

.. 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>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`agent_get_avoidance_layers<class_NavigationServer2D_method_agent_get_avoidance_layers>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                            |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`agent_get_avoidance_mask<class_NavigationServer2D_method_agent_get_avoidance_mask>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`agent_get_avoidance_priority<class_NavigationServer2D_method_agent_get_avoidance_priority>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                        |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`agent_get_map<class_NavigationServer2D_method_agent_get_map>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                      |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`agent_get_max_neighbors<class_NavigationServer2D_method_agent_get_max_neighbors>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                  |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`agent_get_max_speed<class_NavigationServer2D_method_agent_get_max_speed>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`agent_get_neighbor_distance<class_NavigationServer2D_method_agent_get_neighbor_distance>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`agent_get_paused<class_NavigationServer2D_method_agent_get_paused>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`agent_get_position<class_NavigationServer2D_method_agent_get_position>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                            |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`agent_get_radius<class_NavigationServer2D_method_agent_get_radius>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`agent_get_time_horizon_agents<class_NavigationServer2D_method_agent_get_time_horizon_agents>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                      |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`agent_get_time_horizon_obstacles<class_NavigationServer2D_method_agent_get_time_horizon_obstacles>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`agent_get_velocity<class_NavigationServer2D_method_agent_get_velocity>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                            |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`agent_has_avoidance_callback<class_NavigationServer2D_method_agent_has_avoidance_callback>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                        |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`agent_is_map_changed<class_NavigationServer2D_method_agent_is_map_changed>`\ (\ agent\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                        |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_avoidance_callback<class_NavigationServer2D_method_agent_set_avoidance_callback>`\ (\ agent\: :ref:`RID<class_RID>`, callback\: :ref:`Callable<class_Callable>`\ )                                                                                                                                                                                                    |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_avoidance_enabled<class_NavigationServer2D_method_agent_set_avoidance_enabled>`\ (\ agent\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                               |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_avoidance_layers<class_NavigationServer2D_method_agent_set_avoidance_layers>`\ (\ agent\: :ref:`RID<class_RID>`, layers\: :ref:`int<class_int>`\ )                                                                                                                                                                                                                    |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_avoidance_mask<class_NavigationServer2D_method_agent_set_avoidance_mask>`\ (\ agent\: :ref:`RID<class_RID>`, mask\: :ref:`int<class_int>`\ )                                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_avoidance_priority<class_NavigationServer2D_method_agent_set_avoidance_priority>`\ (\ agent\: :ref:`RID<class_RID>`, priority\: :ref:`float<class_float>`\ )                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_map<class_NavigationServer2D_method_agent_set_map>`\ (\ agent\: :ref:`RID<class_RID>`, map\: :ref:`RID<class_RID>`\ )                                                                                                                                                                                                                                                 |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_max_neighbors<class_NavigationServer2D_method_agent_set_max_neighbors>`\ (\ agent\: :ref:`RID<class_RID>`, count\: :ref:`int<class_int>`\ )                                                                                                                                                                                                                           |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_max_speed<class_NavigationServer2D_method_agent_set_max_speed>`\ (\ agent\: :ref:`RID<class_RID>`, max_speed\: :ref:`float<class_float>`\ )                                                                                                                                                                                                                           |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_neighbor_distance<class_NavigationServer2D_method_agent_set_neighbor_distance>`\ (\ agent\: :ref:`RID<class_RID>`, distance\: :ref:`float<class_float>`\ )                                                                                                                                                                                                            |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_paused<class_NavigationServer2D_method_agent_set_paused>`\ (\ agent\: :ref:`RID<class_RID>`, paused\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                                                      |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_position<class_NavigationServer2D_method_agent_set_position>`\ (\ agent\: :ref:`RID<class_RID>`, position\: :ref:`Vector2<class_Vector2>`\ )                                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_radius<class_NavigationServer2D_method_agent_set_radius>`\ (\ agent\: :ref:`RID<class_RID>`, radius\: :ref:`float<class_float>`\ )                                                                                                                                                                                                                                    |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_time_horizon_agents<class_NavigationServer2D_method_agent_set_time_horizon_agents>`\ (\ agent\: :ref:`RID<class_RID>`, time_horizon\: :ref:`float<class_float>`\ )                                                                                                                                                                                                    |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_time_horizon_obstacles<class_NavigationServer2D_method_agent_set_time_horizon_obstacles>`\ (\ agent\: :ref:`RID<class_RID>`, time_horizon\: :ref:`float<class_float>`\ )                                                                                                                                                                                              |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_velocity<class_NavigationServer2D_method_agent_set_velocity>`\ (\ agent\: :ref:`RID<class_RID>`, velocity\: :ref:`Vector2<class_Vector2>`\ )                                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`agent_set_velocity_forced<class_NavigationServer2D_method_agent_set_velocity_forced>`\ (\ agent\: :ref:`RID<class_RID>`, velocity\: :ref:`Vector2<class_Vector2>`\ )                                                                                                                                                                                                            |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`bake_from_source_geometry_data<class_NavigationServer2D_method_bake_from_source_geometry_data>`\ (\ navigation_polygon\: :ref:`NavigationPolygon<class_NavigationPolygon>`, source_geometry_data\: :ref:`NavigationMeshSourceGeometryData2D<class_NavigationMeshSourceGeometryData2D>`, callback\: :ref:`Callable<class_Callable>` = Callable()\ )                              |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`bake_from_source_geometry_data_async<class_NavigationServer2D_method_bake_from_source_geometry_data_async>`\ (\ navigation_polygon\: :ref:`NavigationPolygon<class_NavigationPolygon>`, source_geometry_data\: :ref:`NavigationMeshSourceGeometryData2D<class_NavigationMeshSourceGeometryData2D>`, callback\: :ref:`Callable<class_Callable>` = Callable()\ )                  |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`free_rid<class_NavigationServer2D_method_free_rid>`\ (\ rid\: :ref:`RID<class_RID>`\ )                                                                                                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`get_debug_enabled<class_NavigationServer2D_method_get_debug_enabled>`\ (\ ) |const|                                                                                                                                                                                                                                                                                             |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Array<class_Array>`\[:ref:`RID<class_RID>`\]  | :ref:`get_maps<class_NavigationServer2D_method_get_maps>`\ (\ ) |const|                                                                                                                                                                                                                                                                                                               |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`is_baking_navigation_polygon<class_NavigationServer2D_method_is_baking_navigation_polygon>`\ (\ navigation_polygon\: :ref:`NavigationPolygon<class_NavigationPolygon>`\ ) |const|                                                                                                                                                                                               |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`link_create<class_NavigationServer2D_method_link_create>`\ (\ )                                                                                                                                                                                                                                                                                                                 |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`link_get_enabled<class_NavigationServer2D_method_link_get_enabled>`\ (\ link\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                 |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`link_get_end_position<class_NavigationServer2D_method_link_get_end_position>`\ (\ link\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                       |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`link_get_enter_cost<class_NavigationServer2D_method_link_get_enter_cost>`\ (\ link\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                           |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`link_get_map<class_NavigationServer2D_method_link_get_map>`\ (\ link\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                         |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`link_get_navigation_layers<class_NavigationServer2D_method_link_get_navigation_layers>`\ (\ link\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                             |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`link_get_owner_id<class_NavigationServer2D_method_link_get_owner_id>`\ (\ link\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                               |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`link_get_start_position<class_NavigationServer2D_method_link_get_start_position>`\ (\ link\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                   |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`link_get_travel_cost<class_NavigationServer2D_method_link_get_travel_cost>`\ (\ link\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                         |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`link_is_bidirectional<class_NavigationServer2D_method_link_is_bidirectional>`\ (\ link\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                       |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`link_set_bidirectional<class_NavigationServer2D_method_link_set_bidirectional>`\ (\ link\: :ref:`RID<class_RID>`, bidirectional\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                                    |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`link_set_enabled<class_NavigationServer2D_method_link_set_enabled>`\ (\ link\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                                                      |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`link_set_end_position<class_NavigationServer2D_method_link_set_end_position>`\ (\ link\: :ref:`RID<class_RID>`, position\: :ref:`Vector2<class_Vector2>`\ )                                                                                                                                                                                                                     |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`link_set_enter_cost<class_NavigationServer2D_method_link_set_enter_cost>`\ (\ link\: :ref:`RID<class_RID>`, enter_cost\: :ref:`float<class_float>`\ )                                                                                                                                                                                                                           |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`link_set_map<class_NavigationServer2D_method_link_set_map>`\ (\ link\: :ref:`RID<class_RID>`, map\: :ref:`RID<class_RID>`\ )                                                                                                                                                                                                                                                    |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`link_set_navigation_layers<class_NavigationServer2D_method_link_set_navigation_layers>`\ (\ link\: :ref:`RID<class_RID>`, navigation_layers\: :ref:`int<class_int>`\ )                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`link_set_owner_id<class_NavigationServer2D_method_link_set_owner_id>`\ (\ link\: :ref:`RID<class_RID>`, owner_id\: :ref:`int<class_int>`\ )                                                                                                                                                                                                                                     |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`link_set_start_position<class_NavigationServer2D_method_link_set_start_position>`\ (\ link\: :ref:`RID<class_RID>`, position\: :ref:`Vector2<class_Vector2>`\ )                                                                                                                                                                                                                 |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`link_set_travel_cost<class_NavigationServer2D_method_link_set_travel_cost>`\ (\ link\: :ref:`RID<class_RID>`, travel_cost\: :ref:`float<class_float>`\ )                                                                                                                                                                                                                        |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`map_create<class_NavigationServer2D_method_map_create>`\ (\ )                                                                                                                                                                                                                                                                                                                   |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`map_force_update<class_NavigationServer2D_method_map_force_update>`\ (\ map\: :ref:`RID<class_RID>`\ )                                                                                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Array<class_Array>`\[:ref:`RID<class_RID>`\]  | :ref:`map_get_agents<class_NavigationServer2D_method_map_get_agents>`\ (\ map\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                      |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`map_get_cell_size<class_NavigationServer2D_method_map_get_cell_size>`\ (\ map\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`map_get_closest_point<class_NavigationServer2D_method_map_get_closest_point>`\ (\ map\: :ref:`RID<class_RID>`, to_point\: :ref:`Vector2<class_Vector2>`\ ) |const|                                                                                                                                                                                                              |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`map_get_closest_point_owner<class_NavigationServer2D_method_map_get_closest_point_owner>`\ (\ map\: :ref:`RID<class_RID>`, to_point\: :ref:`Vector2<class_Vector2>`\ ) |const|                                                                                                                                                                                                  |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`map_get_edge_connection_margin<class_NavigationServer2D_method_map_get_edge_connection_margin>`\ (\ map\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                      |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`map_get_iteration_id<class_NavigationServer2D_method_map_get_iteration_id>`\ (\ map\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`map_get_link_connection_radius<class_NavigationServer2D_method_map_get_link_connection_radius>`\ (\ map\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                      |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Array<class_Array>`\[:ref:`RID<class_RID>`\]  | :ref:`map_get_links<class_NavigationServer2D_method_map_get_links>`\ (\ map\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                        |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Array<class_Array>`\[:ref:`RID<class_RID>`\]  | :ref:`map_get_obstacles<class_NavigationServer2D_method_map_get_obstacles>`\ (\ map\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`PackedVector2Array<class_PackedVector2Array>` | :ref:`map_get_path<class_NavigationServer2D_method_map_get_path>`\ (\ map\: :ref:`RID<class_RID>`, origin\: :ref:`Vector2<class_Vector2>`, destination\: :ref:`Vector2<class_Vector2>`, optimize\: :ref:`bool<class_bool>`, navigation_layers\: :ref:`int<class_int>` = 1\ ) |const|                                                                                                  |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`map_get_random_point<class_NavigationServer2D_method_map_get_random_point>`\ (\ map\: :ref:`RID<class_RID>`, navigation_layers\: :ref:`int<class_int>`, uniformly\: :ref:`bool<class_bool>`\ ) |const|                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Array<class_Array>`\[:ref:`RID<class_RID>`\]  | :ref:`map_get_regions<class_NavigationServer2D_method_map_get_regions>`\ (\ map\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                    |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`map_get_use_edge_connections<class_NavigationServer2D_method_map_get_use_edge_connections>`\ (\ map\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`map_is_active<class_NavigationServer2D_method_map_is_active>`\ (\ map\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                        |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`map_set_active<class_NavigationServer2D_method_map_set_active>`\ (\ map\: :ref:`RID<class_RID>`, active\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                                                            |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`map_set_cell_size<class_NavigationServer2D_method_map_set_cell_size>`\ (\ map\: :ref:`RID<class_RID>`, cell_size\: :ref:`float<class_float>`\ )                                                                                                                                                                                                                                 |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`map_set_edge_connection_margin<class_NavigationServer2D_method_map_set_edge_connection_margin>`\ (\ map\: :ref:`RID<class_RID>`, margin\: :ref:`float<class_float>`\ )                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`map_set_link_connection_radius<class_NavigationServer2D_method_map_set_link_connection_radius>`\ (\ map\: :ref:`RID<class_RID>`, radius\: :ref:`float<class_float>`\ )                                                                                                                                                                                                          |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`map_set_use_edge_connections<class_NavigationServer2D_method_map_set_use_edge_connections>`\ (\ map\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                               |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :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>`\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                 |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`obstacle_get_avoidance_layers<class_NavigationServer2D_method_obstacle_get_avoidance_layers>`\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                   |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`obstacle_get_map<class_NavigationServer2D_method_obstacle_get_map>`\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                             |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`obstacle_get_paused<class_NavigationServer2D_method_obstacle_get_paused>`\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                       |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`obstacle_get_position<class_NavigationServer2D_method_obstacle_get_position>`\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                   |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`obstacle_get_radius<class_NavigationServer2D_method_obstacle_get_radius>`\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                       |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`obstacle_get_velocity<class_NavigationServer2D_method_obstacle_get_velocity>`\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                   |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`PackedVector2Array<class_PackedVector2Array>` | :ref:`obstacle_get_vertices<class_NavigationServer2D_method_obstacle_get_vertices>`\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                   |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`obstacle_set_avoidance_enabled<class_NavigationServer2D_method_obstacle_set_avoidance_enabled>`\ (\ obstacle\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                      |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`obstacle_set_avoidance_layers<class_NavigationServer2D_method_obstacle_set_avoidance_layers>`\ (\ obstacle\: :ref:`RID<class_RID>`, layers\: :ref:`int<class_int>`\ )                                                                                                                                                                                                           |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`obstacle_set_map<class_NavigationServer2D_method_obstacle_set_map>`\ (\ obstacle\: :ref:`RID<class_RID>`, map\: :ref:`RID<class_RID>`\ )                                                                                                                                                                                                                                        |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`obstacle_set_paused<class_NavigationServer2D_method_obstacle_set_paused>`\ (\ obstacle\: :ref:`RID<class_RID>`, paused\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                                             |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`obstacle_set_position<class_NavigationServer2D_method_obstacle_set_position>`\ (\ obstacle\: :ref:`RID<class_RID>`, position\: :ref:`Vector2<class_Vector2>`\ )                                                                                                                                                                                                                 |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`obstacle_set_radius<class_NavigationServer2D_method_obstacle_set_radius>`\ (\ obstacle\: :ref:`RID<class_RID>`, radius\: :ref:`float<class_float>`\ )                                                                                                                                                                                                                           |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`obstacle_set_velocity<class_NavigationServer2D_method_obstacle_set_velocity>`\ (\ obstacle\: :ref:`RID<class_RID>`, velocity\: :ref:`Vector2<class_Vector2>`\ )                                                                                                                                                                                                                 |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`obstacle_set_vertices<class_NavigationServer2D_method_obstacle_set_vertices>`\ (\ obstacle\: :ref:`RID<class_RID>`, vertices\: :ref:`PackedVector2Array<class_PackedVector2Array>`\ )                                                                                                                                                                                           |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`parse_source_geometry_data<class_NavigationServer2D_method_parse_source_geometry_data>`\ (\ navigation_polygon\: :ref:`NavigationPolygon<class_NavigationPolygon>`, source_geometry_data\: :ref:`NavigationMeshSourceGeometryData2D<class_NavigationMeshSourceGeometryData2D>`, root_node\: :ref:`Node<class_Node>`, callback\: :ref:`Callable<class_Callable>` = Callable()\ ) |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`query_path<class_NavigationServer2D_method_query_path>`\ (\ parameters\: :ref:`NavigationPathQueryParameters2D<class_NavigationPathQueryParameters2D>`, result\: :ref:`NavigationPathQueryResult2D<class_NavigationPathQueryResult2D>`\ ) |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>`\ (\ region\: :ref:`RID<class_RID>`, connection\: :ref:`int<class_int>`\ ) |const|                                                                                                                                                                                         |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`region_get_connection_pathway_start<class_NavigationServer2D_method_region_get_connection_pathway_start>`\ (\ region\: :ref:`RID<class_RID>`, connection\: :ref:`int<class_int>`\ ) |const|                                                                                                                                                                                     |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`region_get_connections_count<class_NavigationServer2D_method_region_get_connections_count>`\ (\ region\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                       |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`region_get_enabled<class_NavigationServer2D_method_region_get_enabled>`\ (\ region\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                           |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`region_get_enter_cost<class_NavigationServer2D_method_region_get_enter_cost>`\ (\ region\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                     |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`region_get_map<class_NavigationServer2D_method_region_get_map>`\ (\ region\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                                   |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`region_get_navigation_layers<class_NavigationServer2D_method_region_get_navigation_layers>`\ (\ region\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                       |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                               | :ref:`region_get_owner_id<class_NavigationServer2D_method_region_get_owner_id>`\ (\ region\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                         |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`region_get_random_point<class_NavigationServer2D_method_region_get_random_point>`\ (\ region\: :ref:`RID<class_RID>`, navigation_layers\: :ref:`int<class_int>`, uniformly\: :ref:`bool<class_bool>`\ ) |const|                                                                                                                                                                 |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Transform2D<class_Transform2D>`               | :ref:`region_get_transform<class_NavigationServer2D_method_region_get_transform>`\ (\ region\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                       |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`region_get_travel_cost<class_NavigationServer2D_method_region_get_travel_cost>`\ (\ region\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                                   |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`region_get_use_edge_connections<class_NavigationServer2D_method_region_get_use_edge_connections>`\ (\ region\: :ref:`RID<class_RID>`\ ) |const|                                                                                                                                                                                                                                 |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`region_owns_point<class_NavigationServer2D_method_region_owns_point>`\ (\ region\: :ref:`RID<class_RID>`, point\: :ref:`Vector2<class_Vector2>`\ ) |const|                                                                                                                                                                                                                      |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`region_set_enabled<class_NavigationServer2D_method_region_set_enabled>`\ (\ region\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                                                |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`region_set_enter_cost<class_NavigationServer2D_method_region_set_enter_cost>`\ (\ region\: :ref:`RID<class_RID>`, enter_cost\: :ref:`float<class_float>`\ )                                                                                                                                                                                                                     |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`region_set_map<class_NavigationServer2D_method_region_set_map>`\ (\ region\: :ref:`RID<class_RID>`, map\: :ref:`RID<class_RID>`\ )                                                                                                                                                                                                                                              |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`region_set_navigation_layers<class_NavigationServer2D_method_region_set_navigation_layers>`\ (\ region\: :ref:`RID<class_RID>`, navigation_layers\: :ref:`int<class_int>`\ )                                                                                                                                                                                                    |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`region_set_navigation_polygon<class_NavigationServer2D_method_region_set_navigation_polygon>`\ (\ region\: :ref:`RID<class_RID>`, navigation_polygon\: :ref:`NavigationPolygon<class_NavigationPolygon>`\ )                                                                                                                                                                     |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`region_set_owner_id<class_NavigationServer2D_method_region_set_owner_id>`\ (\ region\: :ref:`RID<class_RID>`, owner_id\: :ref:`int<class_int>`\ )                                                                                                                                                                                                                               |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`region_set_transform<class_NavigationServer2D_method_region_set_transform>`\ (\ region\: :ref:`RID<class_RID>`, transform\: :ref:`Transform2D<class_Transform2D>`\ )                                                                                                                                                                                                            |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`region_set_travel_cost<class_NavigationServer2D_method_region_set_travel_cost>`\ (\ region\: :ref:`RID<class_RID>`, travel_cost\: :ref:`float<class_float>`\ )                                                                                                                                                                                                                  |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`region_set_use_edge_connections<class_NavigationServer2D_method_region_set_use_edge_connections>`\ (\ region\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                      |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`set_debug_enabled<class_NavigationServer2D_method_set_debug_enabled>`\ (\ enabled\: :ref:`bool<class_bool>`\ )                                                                                                                                                                                                                                                                  |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`PackedVector2Array<class_PackedVector2Array>` | :ref:`simplify_path<class_NavigationServer2D_method_simplify_path>`\ (\ path\: :ref:`PackedVector2Array<class_PackedVector2Array>`, epsilon\: :ref:`float<class_float>`\ )                                                                                                                                                                                                            |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                               | :ref:`source_geometry_parser_create<class_NavigationServer2D_method_source_geometry_parser_create>`\ (\ )                                                                                                                                                                                                                                                                             |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                              | :ref:`source_geometry_parser_set_callback<class_NavigationServer2D_method_source_geometry_parser_set_callback>`\ (\ parser\: :ref:`RID<class_RID>`, callback\: :ref:`Callable<class_Callable>`\ )                                                                                                                                                                                     |
   +-----------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+

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

----

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

Signals
-------

.. _class_NavigationServer2D_signal_map_changed:

.. rst-class:: classref-signal

**map_changed**\ (\ map\: :ref:`RID<class_RID>`\ ) :ref:`🔗<class_NavigationServer2D_signal_map_changed>`

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**\ (\ ) :ref:`🔗<class_NavigationServer2D_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**\ (\ ) :ref:`🔗<class_NavigationServer2D_method_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**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_avoidance_enabled>`

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

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

----

.. _class_NavigationServer2D_method_agent_get_avoidance_layers:

.. rst-class:: classref-method

:ref:`int<class_int>` **agent_get_avoidance_layers**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_avoidance_layers>`

Returns the ``avoidance_layers`` bitmask of the specified ``agent``.

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

----

.. _class_NavigationServer2D_method_agent_get_avoidance_mask:

.. rst-class:: classref-method

:ref:`int<class_int>` **agent_get_avoidance_mask**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_avoidance_mask>`

Returns the ``avoidance_mask`` bitmask of the specified ``agent``.

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

----

.. _class_NavigationServer2D_method_agent_get_avoidance_priority:

.. rst-class:: classref-method

:ref:`float<class_float>` **agent_get_avoidance_priority**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_avoidance_priority>`

Returns the ``avoidance_priority`` of the specified ``agent``.

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

----

.. _class_NavigationServer2D_method_agent_get_map:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **agent_get_map**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_map>`

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_max_neighbors:

.. rst-class:: classref-method

:ref:`int<class_int>` **agent_get_max_neighbors**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_max_neighbors>`

Returns the maximum number of other agents the specified ``agent`` takes into account in the navigation.

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

----

.. _class_NavigationServer2D_method_agent_get_max_speed:

.. rst-class:: classref-method

:ref:`float<class_float>` **agent_get_max_speed**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_max_speed>`

Returns the maximum speed of the specified ``agent``.

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

----

.. _class_NavigationServer2D_method_agent_get_neighbor_distance:

.. rst-class:: classref-method

:ref:`float<class_float>` **agent_get_neighbor_distance**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_neighbor_distance>`

Returns the maximum distance to other agents the specified ``agent`` takes into account in the navigation.

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

----

.. _class_NavigationServer2D_method_agent_get_paused:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **agent_get_paused**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_paused>`

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

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

----

.. _class_NavigationServer2D_method_agent_get_position:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **agent_get_position**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_position>`

Returns the position of the specified ``agent`` in world space.

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

----

.. _class_NavigationServer2D_method_agent_get_radius:

.. rst-class:: classref-method

:ref:`float<class_float>` **agent_get_radius**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_radius>`

Returns the radius of the specified ``agent``.

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

----

.. _class_NavigationServer2D_method_agent_get_time_horizon_agents:

.. rst-class:: classref-method

:ref:`float<class_float>` **agent_get_time_horizon_agents**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_time_horizon_agents>`

Returns the minimal amount of time for which the specified ``agent``'s velocities that are computed by the simulation are safe with respect to other agents.

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

----

.. _class_NavigationServer2D_method_agent_get_time_horizon_obstacles:

.. rst-class:: classref-method

:ref:`float<class_float>` **agent_get_time_horizon_obstacles**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_time_horizon_obstacles>`

Returns the minimal amount of time for which the specified ``agent``'s velocities that are computed by the simulation are safe with respect to static avoidance obstacles.

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

----

.. _class_NavigationServer2D_method_agent_get_velocity:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **agent_get_velocity**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_get_velocity>`

Returns the velocity of the specified ``agent``.

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

----

.. _class_NavigationServer2D_method_agent_has_avoidance_callback:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **agent_has_avoidance_callback**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_has_avoidance_callback>`

Return ``true`` if the specified ``agent`` has an avoidance callback.

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

----

.. _class_NavigationServer2D_method_agent_is_map_changed:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **agent_is_map_changed**\ (\ agent\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_agent_is_map_changed>`

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**\ (\ agent\: :ref:`RID<class_RID>`, callback\: :ref:`Callable<class_Callable>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_avoidance_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**\ (\ agent\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_avoidance_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**\ (\ agent\: :ref:`RID<class_RID>`, layers\: :ref:`int<class_int>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_avoidance_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**\ (\ agent\: :ref:`RID<class_RID>`, mask\: :ref:`int<class_int>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_avoidance_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**\ (\ agent\: :ref:`RID<class_RID>`, priority\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_avoidance_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**\ (\ agent\: :ref:`RID<class_RID>`, map\: :ref:`RID<class_RID>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_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**\ (\ agent\: :ref:`RID<class_RID>`, count\: :ref:`int<class_int>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_max_neighbors>`

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**\ (\ agent\: :ref:`RID<class_RID>`, max_speed\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_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**\ (\ agent\: :ref:`RID<class_RID>`, distance\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_neighbor_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**\ (\ agent\: :ref:`RID<class_RID>`, paused\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_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

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.. _class_NavigationServer2D_method_agent_set_position:

.. rst-class:: classref-method

|void| **agent_set_position**\ (\ agent\: :ref:`RID<class_RID>`, position\: :ref:`Vector2<class_Vector2>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_position>`

Sets the position of the agent in world space.

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

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.. _class_NavigationServer2D_method_agent_set_radius:

.. rst-class:: classref-method

|void| **agent_set_radius**\ (\ agent\: :ref:`RID<class_RID>`, radius\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_radius>`

Sets the radius of the agent.

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

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.. _class_NavigationServer2D_method_agent_set_time_horizon_agents:

.. rst-class:: classref-method

|void| **agent_set_time_horizon_agents**\ (\ agent\: :ref:`RID<class_RID>`, time_horizon\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_time_horizon_agents>`

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

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.. _class_NavigationServer2D_method_agent_set_time_horizon_obstacles:

.. rst-class:: classref-method

|void| **agent_set_time_horizon_obstacles**\ (\ agent\: :ref:`RID<class_RID>`, time_horizon\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_time_horizon_obstacles>`

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

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.. _class_NavigationServer2D_method_agent_set_velocity:

.. rst-class:: classref-method

|void| **agent_set_velocity**\ (\ agent\: :ref:`RID<class_RID>`, velocity\: :ref:`Vector2<class_Vector2>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_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

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.. _class_NavigationServer2D_method_agent_set_velocity_forced:

.. rst-class:: classref-method

|void| **agent_set_velocity_forced**\ (\ agent\: :ref:`RID<class_RID>`, velocity\: :ref:`Vector2<class_Vector2>`\ ) :ref:`🔗<class_NavigationServer2D_method_agent_set_velocity_forced>`

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.

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.. _class_NavigationServer2D_method_bake_from_source_geometry_data:

.. rst-class:: classref-method

|void| **bake_from_source_geometry_data**\ (\ navigation_polygon\: :ref:`NavigationPolygon<class_NavigationPolygon>`, source_geometry_data\: :ref:`NavigationMeshSourceGeometryData2D<class_NavigationMeshSourceGeometryData2D>`, callback\: :ref:`Callable<class_Callable>` = Callable()\ ) :ref:`🔗<class_NavigationServer2D_method_bake_from_source_geometry_data>`

Bakes the provided ``navigation_polygon`` with the data from the provided ``source_geometry_data``. After the process is finished the optional ``callback`` will be called.

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.. _class_NavigationServer2D_method_bake_from_source_geometry_data_async:

.. rst-class:: classref-method

|void| **bake_from_source_geometry_data_async**\ (\ navigation_polygon\: :ref:`NavigationPolygon<class_NavigationPolygon>`, source_geometry_data\: :ref:`NavigationMeshSourceGeometryData2D<class_NavigationMeshSourceGeometryData2D>`, callback\: :ref:`Callable<class_Callable>` = Callable()\ ) :ref:`🔗<class_NavigationServer2D_method_bake_from_source_geometry_data_async>`

Bakes the provided ``navigation_polygon`` with the data from the provided ``source_geometry_data`` as an async task running on a background thread. After the process is finished the optional ``callback`` will be called.

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

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.. _class_NavigationServer2D_method_free_rid:

.. rst-class:: classref-method

|void| **free_rid**\ (\ rid\: :ref:`RID<class_RID>`\ ) :ref:`🔗<class_NavigationServer2D_method_free_rid>`

Destroys the given RID.

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.. _class_NavigationServer2D_method_get_debug_enabled:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **get_debug_enabled**\ (\ ) |const| :ref:`🔗<class_NavigationServer2D_method_get_debug_enabled>`

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

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

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.. _class_NavigationServer2D_method_get_maps:

.. rst-class:: classref-method

:ref:`Array<class_Array>`\[:ref:`RID<class_RID>`\] **get_maps**\ (\ ) |const| :ref:`🔗<class_NavigationServer2D_method_get_maps>`

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

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.. _class_NavigationServer2D_method_is_baking_navigation_polygon:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **is_baking_navigation_polygon**\ (\ navigation_polygon\: :ref:`NavigationPolygon<class_NavigationPolygon>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_is_baking_navigation_polygon>`

Returns ``true`` when the provided navigation polygon is being baked on a background thread.

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

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.. _class_NavigationServer2D_method_link_create:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **link_create**\ (\ ) :ref:`🔗<class_NavigationServer2D_method_link_create>`

Create a new link between two positions on a map.

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

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.. _class_NavigationServer2D_method_link_get_enabled:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **link_get_enabled**\ (\ link\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_link_get_enabled>`

Returns ``true`` if the specified ``link`` is enabled.

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.. _class_NavigationServer2D_method_link_get_end_position:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **link_get_end_position**\ (\ link\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_link_get_end_position>`

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

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

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.. _class_NavigationServer2D_method_link_get_enter_cost:

.. rst-class:: classref-method

:ref:`float<class_float>` **link_get_enter_cost**\ (\ link\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_link_get_enter_cost>`

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

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

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.. _class_NavigationServer2D_method_link_get_map:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **link_get_map**\ (\ link\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_link_get_map>`

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

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

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.. _class_NavigationServer2D_method_link_get_navigation_layers:

.. rst-class:: classref-method

:ref:`int<class_int>` **link_get_navigation_layers**\ (\ link\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_link_get_navigation_layers>`

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

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

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.. _class_NavigationServer2D_method_link_get_owner_id:

.. rst-class:: classref-method

:ref:`int<class_int>` **link_get_owner_id**\ (\ link\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_link_get_owner_id>`

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

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

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.. _class_NavigationServer2D_method_link_get_start_position:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **link_get_start_position**\ (\ link\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_link_get_start_position>`

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

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

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.. _class_NavigationServer2D_method_link_get_travel_cost:

.. rst-class:: classref-method

:ref:`float<class_float>` **link_get_travel_cost**\ (\ link\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_link_get_travel_cost>`

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

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

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.. _class_NavigationServer2D_method_link_is_bidirectional:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **link_is_bidirectional**\ (\ link\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_link_is_bidirectional>`

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

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

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.. _class_NavigationServer2D_method_link_set_bidirectional:

.. rst-class:: classref-method

|void| **link_set_bidirectional**\ (\ link\: :ref:`RID<class_RID>`, bidirectional\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_link_set_bidirectional>`

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

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

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.. _class_NavigationServer2D_method_link_set_enabled:

.. rst-class:: classref-method

|void| **link_set_enabled**\ (\ link\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_link_set_enabled>`

If ``enabled`` is ``true``, the specified ``link`` will contribute to its current navigation map.

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

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.. _class_NavigationServer2D_method_link_set_end_position:

.. rst-class:: classref-method

|void| **link_set_end_position**\ (\ link\: :ref:`RID<class_RID>`, position\: :ref:`Vector2<class_Vector2>`\ ) :ref:`🔗<class_NavigationServer2D_method_link_set_end_position>`

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

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

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.. _class_NavigationServer2D_method_link_set_enter_cost:

.. rst-class:: classref-method

|void| **link_set_enter_cost**\ (\ link\: :ref:`RID<class_RID>`, enter_cost\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_link_set_enter_cost>`

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

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

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.. _class_NavigationServer2D_method_link_set_map:

.. rst-class:: classref-method

|void| **link_set_map**\ (\ link\: :ref:`RID<class_RID>`, map\: :ref:`RID<class_RID>`\ ) :ref:`🔗<class_NavigationServer2D_method_link_set_map>`

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

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

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.. _class_NavigationServer2D_method_link_set_navigation_layers:

.. rst-class:: classref-method

|void| **link_set_navigation_layers**\ (\ link\: :ref:`RID<class_RID>`, navigation_layers\: :ref:`int<class_int>`\ ) :ref:`🔗<class_NavigationServer2D_method_link_set_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

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.. _class_NavigationServer2D_method_link_set_owner_id:

.. rst-class:: classref-method

|void| **link_set_owner_id**\ (\ link\: :ref:`RID<class_RID>`, owner_id\: :ref:`int<class_int>`\ ) :ref:`🔗<class_NavigationServer2D_method_link_set_owner_id>`

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

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

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.. _class_NavigationServer2D_method_link_set_start_position:

.. rst-class:: classref-method

|void| **link_set_start_position**\ (\ link\: :ref:`RID<class_RID>`, position\: :ref:`Vector2<class_Vector2>`\ ) :ref:`🔗<class_NavigationServer2D_method_link_set_start_position>`

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

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

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.. _class_NavigationServer2D_method_link_set_travel_cost:

.. rst-class:: classref-method

|void| **link_set_travel_cost**\ (\ link\: :ref:`RID<class_RID>`, travel_cost\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_link_set_travel_cost>`

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

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

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.. _class_NavigationServer2D_method_map_create:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **map_create**\ (\ ) :ref:`🔗<class_NavigationServer2D_method_map_create>`

Create a new map.

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

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.. _class_NavigationServer2D_method_map_force_update:

.. rst-class:: classref-method

|void| **map_force_update**\ (\ map\: :ref:`RID<class_RID>`\ ) :ref:`🔗<class_NavigationServer2D_method_map_force_update>`

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 unaffected 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

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.. _class_NavigationServer2D_method_map_get_agents:

.. rst-class:: classref-method

:ref:`Array<class_Array>`\[:ref:`RID<class_RID>`\] **map_get_agents**\ (\ map\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_agents>`

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

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

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.. _class_NavigationServer2D_method_map_get_cell_size:

.. rst-class:: classref-method

:ref:`float<class_float>` **map_get_cell_size**\ (\ map\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_cell_size>`

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

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

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.. _class_NavigationServer2D_method_map_get_closest_point:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **map_get_closest_point**\ (\ map\: :ref:`RID<class_RID>`, to_point\: :ref:`Vector2<class_Vector2>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_closest_point>`

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

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

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.. _class_NavigationServer2D_method_map_get_closest_point_owner:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **map_get_closest_point_owner**\ (\ map\: :ref:`RID<class_RID>`, to_point\: :ref:`Vector2<class_Vector2>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_closest_point_owner>`

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

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.. _class_NavigationServer2D_method_map_get_edge_connection_margin:

.. rst-class:: classref-method

:ref:`float<class_float>` **map_get_edge_connection_margin**\ (\ map\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_edge_connection_margin>`

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

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.. _class_NavigationServer2D_method_map_get_iteration_id:

.. rst-class:: classref-method

:ref:`int<class_int>` **map_get_iteration_id**\ (\ map\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_iteration_id>`

Returns the current iteration id of the navigation map. Every time the navigation map changes and synchronizes the iteration id increases. An iteration id of 0 means the navigation map has never synchronized.

\ **Note:** The iteration id will wrap back to 1 after reaching its range limit.

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

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.. _class_NavigationServer2D_method_map_get_link_connection_radius:

.. rst-class:: classref-method

:ref:`float<class_float>` **map_get_link_connection_radius**\ (\ map\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_link_connection_radius>`

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

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.. _class_NavigationServer2D_method_map_get_links:

.. rst-class:: classref-method

:ref:`Array<class_Array>`\[:ref:`RID<class_RID>`\] **map_get_links**\ (\ map\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_links>`

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

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

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.. _class_NavigationServer2D_method_map_get_obstacles:

.. rst-class:: classref-method

:ref:`Array<class_Array>`\[:ref:`RID<class_RID>`\] **map_get_obstacles**\ (\ map\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_obstacles>`

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

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

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.. _class_NavigationServer2D_method_map_get_path:

.. rst-class:: classref-method

:ref:`PackedVector2Array<class_PackedVector2Array>` **map_get_path**\ (\ map\: :ref:`RID<class_RID>`, origin\: :ref:`Vector2<class_Vector2>`, destination\: :ref:`Vector2<class_Vector2>`, optimize\: :ref:`bool<class_bool>`, navigation_layers\: :ref:`int<class_int>` = 1\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_path>`

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

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.. _class_NavigationServer2D_method_map_get_random_point:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **map_get_random_point**\ (\ map\: :ref:`RID<class_RID>`, navigation_layers\: :ref:`int<class_int>`, uniformly\: :ref:`bool<class_bool>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_random_point>`

Returns a random position picked from all map region polygons with matching ``navigation_layers``.

If ``uniformly`` is ``true``, all map regions, polygons, and faces are weighted by their surface area (slower).

If ``uniformly`` is ``false``, just a random region and a random polygon are picked (faster).

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

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.. _class_NavigationServer2D_method_map_get_regions:

.. rst-class:: classref-method

:ref:`Array<class_Array>`\[:ref:`RID<class_RID>`\] **map_get_regions**\ (\ map\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_regions>`

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

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

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.. _class_NavigationServer2D_method_map_get_use_edge_connections:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **map_get_use_edge_connections**\ (\ map\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_get_use_edge_connections>`

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

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.. _class_NavigationServer2D_method_map_is_active:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **map_is_active**\ (\ map\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_map_is_active>`

Returns true if the map is active.

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

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.. _class_NavigationServer2D_method_map_set_active:

.. rst-class:: classref-method

|void| **map_set_active**\ (\ map\: :ref:`RID<class_RID>`, active\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_map_set_active>`

Sets the map active.

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

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.. _class_NavigationServer2D_method_map_set_cell_size:

.. rst-class:: classref-method

|void| **map_set_cell_size**\ (\ map\: :ref:`RID<class_RID>`, cell_size\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_map_set_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

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.. _class_NavigationServer2D_method_map_set_edge_connection_margin:

.. rst-class:: classref-method

|void| **map_set_edge_connection_margin**\ (\ map\: :ref:`RID<class_RID>`, margin\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_map_set_edge_connection_margin>`

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

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

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.. _class_NavigationServer2D_method_map_set_link_connection_radius:

.. rst-class:: classref-method

|void| **map_set_link_connection_radius**\ (\ map\: :ref:`RID<class_RID>`, radius\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_map_set_link_connection_radius>`

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

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

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.. _class_NavigationServer2D_method_map_set_use_edge_connections:

.. rst-class:: classref-method

|void| **map_set_use_edge_connections**\ (\ map\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_map_set_use_edge_connections>`

Set the navigation ``map`` edge connection use. If ``enabled`` is ``true``, 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

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.. _class_NavigationServer2D_method_obstacle_create:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **obstacle_create**\ (\ ) :ref:`🔗<class_NavigationServer2D_method_obstacle_create>`

Creates a new navigation obstacle.

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.. _class_NavigationServer2D_method_obstacle_get_avoidance_enabled:

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:ref:`bool<class_bool>` **obstacle_get_avoidance_enabled**\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_obstacle_get_avoidance_enabled>`

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

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.. _class_NavigationServer2D_method_obstacle_get_avoidance_layers:

.. rst-class:: classref-method

:ref:`int<class_int>` **obstacle_get_avoidance_layers**\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_obstacle_get_avoidance_layers>`

Returns the ``avoidance_layers`` bitmask of the specified ``obstacle``.

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.. _class_NavigationServer2D_method_obstacle_get_map:

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:ref:`RID<class_RID>` **obstacle_get_map**\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_obstacle_get_map>`

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

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.. _class_NavigationServer2D_method_obstacle_get_paused:

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:ref:`bool<class_bool>` **obstacle_get_paused**\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_obstacle_get_paused>`

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

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.. _class_NavigationServer2D_method_obstacle_get_position:

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:ref:`Vector2<class_Vector2>` **obstacle_get_position**\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_obstacle_get_position>`

Returns the position of the specified ``obstacle`` in world space.

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.. _class_NavigationServer2D_method_obstacle_get_radius:

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:ref:`float<class_float>` **obstacle_get_radius**\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_obstacle_get_radius>`

Returns the radius of the specified dynamic ``obstacle``.

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.. _class_NavigationServer2D_method_obstacle_get_velocity:

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:ref:`Vector2<class_Vector2>` **obstacle_get_velocity**\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_obstacle_get_velocity>`

Returns the velocity of the specified dynamic ``obstacle``.

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.. _class_NavigationServer2D_method_obstacle_get_vertices:

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:ref:`PackedVector2Array<class_PackedVector2Array>` **obstacle_get_vertices**\ (\ obstacle\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_obstacle_get_vertices>`

Returns the outline vertices for the specified ``obstacle``.

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.. _class_NavigationServer2D_method_obstacle_set_avoidance_enabled:

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|void| **obstacle_set_avoidance_enabled**\ (\ obstacle\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_obstacle_set_avoidance_enabled>`

If ``enabled`` is ``true``, the provided ``obstacle`` affects avoidance using agents.

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.. _class_NavigationServer2D_method_obstacle_set_avoidance_layers:

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|void| **obstacle_set_avoidance_layers**\ (\ obstacle\: :ref:`RID<class_RID>`, layers\: :ref:`int<class_int>`\ ) :ref:`🔗<class_NavigationServer2D_method_obstacle_set_avoidance_layers>`

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

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.. _class_NavigationServer2D_method_obstacle_set_map:

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|void| **obstacle_set_map**\ (\ obstacle\: :ref:`RID<class_RID>`, map\: :ref:`RID<class_RID>`\ ) :ref:`🔗<class_NavigationServer2D_method_obstacle_set_map>`

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

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.. _class_NavigationServer2D_method_obstacle_set_paused:

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|void| **obstacle_set_paused**\ (\ obstacle\: :ref:`RID<class_RID>`, paused\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_obstacle_set_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:

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|void| **obstacle_set_position**\ (\ obstacle\: :ref:`RID<class_RID>`, position\: :ref:`Vector2<class_Vector2>`\ ) :ref:`🔗<class_NavigationServer2D_method_obstacle_set_position>`

Sets the position of the obstacle in world space.

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.. _class_NavigationServer2D_method_obstacle_set_radius:

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|void| **obstacle_set_radius**\ (\ obstacle\: :ref:`RID<class_RID>`, radius\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_obstacle_set_radius>`

Sets the radius of the dynamic obstacle.

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.. _class_NavigationServer2D_method_obstacle_set_velocity:

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|void| **obstacle_set_velocity**\ (\ obstacle\: :ref:`RID<class_RID>`, velocity\: :ref:`Vector2<class_Vector2>`\ ) :ref:`🔗<class_NavigationServer2D_method_obstacle_set_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:

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|void| **obstacle_set_vertices**\ (\ obstacle\: :ref:`RID<class_RID>`, vertices\: :ref:`PackedVector2Array<class_PackedVector2Array>`\ ) :ref:`🔗<class_NavigationServer2D_method_obstacle_set_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_parse_source_geometry_data:

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|void| **parse_source_geometry_data**\ (\ navigation_polygon\: :ref:`NavigationPolygon<class_NavigationPolygon>`, source_geometry_data\: :ref:`NavigationMeshSourceGeometryData2D<class_NavigationMeshSourceGeometryData2D>`, root_node\: :ref:`Node<class_Node>`, callback\: :ref:`Callable<class_Callable>` = Callable()\ ) :ref:`🔗<class_NavigationServer2D_method_parse_source_geometry_data>`

Parses the :ref:`SceneTree<class_SceneTree>` for source geometry according to the properties of ``navigation_polygon``. Updates the provided ``source_geometry_data`` resource with the resulting data. The resource can then be used to bake a navigation mesh with :ref:`bake_from_source_geometry_data<class_NavigationServer2D_method_bake_from_source_geometry_data>`. After the process is finished the optional ``callback`` will be called.

\ **Note:** This function needs to run on the main thread or with a deferred call as the SceneTree is not thread-safe.

\ **Performance:** While convenient, reading data arrays from :ref:`Mesh<class_Mesh>` resources can affect the frame rate negatively. The data needs to be received from the GPU, stalling the :ref:`RenderingServer<class_RenderingServer>` in the process. For performance prefer the use of e.g. collision shapes or creating the data arrays entirely in code.

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.. _class_NavigationServer2D_method_query_path:

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|void| **query_path**\ (\ parameters\: :ref:`NavigationPathQueryParameters2D<class_NavigationPathQueryParameters2D>`, result\: :ref:`NavigationPathQueryResult2D<class_NavigationPathQueryResult2D>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_query_path>`

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:

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:ref:`RID<class_RID>` **region_create**\ (\ ) :ref:`🔗<class_NavigationServer2D_method_region_create>`

Creates a new region.

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.. _class_NavigationServer2D_method_region_get_connection_pathway_end:

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:ref:`Vector2<class_Vector2>` **region_get_connection_pathway_end**\ (\ region\: :ref:`RID<class_RID>`, connection\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_connection_pathway_end>`

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:

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:ref:`Vector2<class_Vector2>` **region_get_connection_pathway_start**\ (\ region\: :ref:`RID<class_RID>`, connection\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_connection_pathway_start>`

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:

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:ref:`int<class_int>` **region_get_connections_count**\ (\ region\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_connections_count>`

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

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.. _class_NavigationServer2D_method_region_get_enabled:

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:ref:`bool<class_bool>` **region_get_enabled**\ (\ region\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_enabled>`

Returns ``true`` if the specified ``region`` is enabled.

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.. _class_NavigationServer2D_method_region_get_enter_cost:

.. rst-class:: classref-method

:ref:`float<class_float>` **region_get_enter_cost**\ (\ region\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_enter_cost>`

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

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.. _class_NavigationServer2D_method_region_get_map:

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:ref:`RID<class_RID>` **region_get_map**\ (\ region\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_map>`

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:

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:ref:`int<class_int>` **region_get_navigation_layers**\ (\ region\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_navigation_layers>`

Returns the region's navigation layers.

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.. _class_NavigationServer2D_method_region_get_owner_id:

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:ref:`int<class_int>` **region_get_owner_id**\ (\ region\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_owner_id>`

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

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.. _class_NavigationServer2D_method_region_get_random_point:

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:ref:`Vector2<class_Vector2>` **region_get_random_point**\ (\ region\: :ref:`RID<class_RID>`, navigation_layers\: :ref:`int<class_int>`, uniformly\: :ref:`bool<class_bool>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_random_point>`

Returns a random position picked from all region polygons with matching ``navigation_layers``.

If ``uniformly`` is ``true``, all region polygons and faces are weighted by their surface area (slower).

If ``uniformly`` is ``false``, just a random polygon and face is picked (faster).

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.. _class_NavigationServer2D_method_region_get_transform:

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:ref:`Transform2D<class_Transform2D>` **region_get_transform**\ (\ region\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_transform>`

Returns the global transformation of this ``region``.

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.. _class_NavigationServer2D_method_region_get_travel_cost:

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:ref:`float<class_float>` **region_get_travel_cost**\ (\ region\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_travel_cost>`

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

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.. _class_NavigationServer2D_method_region_get_use_edge_connections:

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:ref:`bool<class_bool>` **region_get_use_edge_connections**\ (\ region\: :ref:`RID<class_RID>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_get_use_edge_connections>`

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**\ (\ region\: :ref:`RID<class_RID>`, point\: :ref:`Vector2<class_Vector2>`\ ) |const| :ref:`🔗<class_NavigationServer2D_method_region_owns_point>`

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_enabled:

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|void| **region_set_enabled**\ (\ region\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_region_set_enabled>`

If ``enabled`` is ``true`` the specified ``region`` will contribute to its current navigation map.

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.. _class_NavigationServer2D_method_region_set_enter_cost:

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|void| **region_set_enter_cost**\ (\ region\: :ref:`RID<class_RID>`, enter_cost\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_region_set_enter_cost>`

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

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.. _class_NavigationServer2D_method_region_set_map:

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|void| **region_set_map**\ (\ region\: :ref:`RID<class_RID>`, map\: :ref:`RID<class_RID>`\ ) :ref:`🔗<class_NavigationServer2D_method_region_set_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**\ (\ region\: :ref:`RID<class_RID>`, navigation_layers\: :ref:`int<class_int>`\ ) :ref:`🔗<class_NavigationServer2D_method_region_set_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**\ (\ region\: :ref:`RID<class_RID>`, navigation_polygon\: :ref:`NavigationPolygon<class_NavigationPolygon>`\ ) :ref:`🔗<class_NavigationServer2D_method_region_set_navigation_polygon>`

Sets the ``navigation_polygon`` for the region.

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.. _class_NavigationServer2D_method_region_set_owner_id:

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|void| **region_set_owner_id**\ (\ region\: :ref:`RID<class_RID>`, owner_id\: :ref:`int<class_int>`\ ) :ref:`🔗<class_NavigationServer2D_method_region_set_owner_id>`

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

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.. _class_NavigationServer2D_method_region_set_transform:

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|void| **region_set_transform**\ (\ region\: :ref:`RID<class_RID>`, transform\: :ref:`Transform2D<class_Transform2D>`\ ) :ref:`🔗<class_NavigationServer2D_method_region_set_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**\ (\ region\: :ref:`RID<class_RID>`, travel_cost\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_region_set_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**\ (\ region\: :ref:`RID<class_RID>`, enabled\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_region_set_use_edge_connections>`

If ``enabled`` is ``true``, 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**\ (\ enabled\: :ref:`bool<class_bool>`\ ) :ref:`🔗<class_NavigationServer2D_method_set_debug_enabled>`

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

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.. _class_NavigationServer2D_method_simplify_path:

.. rst-class:: classref-method

:ref:`PackedVector2Array<class_PackedVector2Array>` **simplify_path**\ (\ path\: :ref:`PackedVector2Array<class_PackedVector2Array>`, epsilon\: :ref:`float<class_float>`\ ) :ref:`🔗<class_NavigationServer2D_method_simplify_path>`

Returns a simplified version of ``path`` with less critical path points removed. The simplification amount is in worlds units and controlled by ``epsilon``. The simplification uses a variant of Ramer-Douglas-Peucker algorithm for curve point decimation.

Path simplification can be helpful to mitigate various path following issues that can arise with certain agent types and script behaviors. E.g. "steering" agents or avoidance in "open fields".

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.. _class_NavigationServer2D_method_source_geometry_parser_create:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **source_geometry_parser_create**\ (\ ) :ref:`🔗<class_NavigationServer2D_method_source_geometry_parser_create>`

Creates a new source geometry parser. If a :ref:`Callable<class_Callable>` is set for the parser with :ref:`source_geometry_parser_set_callback<class_NavigationServer2D_method_source_geometry_parser_set_callback>` the callback will be called for every single node that gets parsed whenever :ref:`parse_source_geometry_data<class_NavigationServer2D_method_parse_source_geometry_data>` is used.

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.. _class_NavigationServer2D_method_source_geometry_parser_set_callback:

.. rst-class:: classref-method

|void| **source_geometry_parser_set_callback**\ (\ parser\: :ref:`RID<class_RID>`, callback\: :ref:`Callable<class_Callable>`\ ) :ref:`🔗<class_NavigationServer2D_method_source_geometry_parser_set_callback>`

Sets the ``callback`` :ref:`Callable<class_Callable>` for the specific source geometry ``parser``. The :ref:`Callable<class_Callable>` will receive a call with the following parameters:

- ``navigation_mesh`` - The :ref:`NavigationPolygon<class_NavigationPolygon>` reference used to define the parse settings. Do NOT edit or add directly to the navigation mesh.

- ``source_geometry_data`` - The :ref:`NavigationMeshSourceGeometryData2D<class_NavigationMeshSourceGeometryData2D>` reference. Add custom source geometry for navigation mesh baking to this object.

- ``node`` - The :ref:`Node<class_Node>` that is parsed.

.. |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.)`
.. |void| replace:: :abbr:`void (No return value.)`