Move navigation mesh baking to NavigationServer

Moves navigation mesh baking to NavigationServer.

1 files changed, 3 insertions, 717 deletions

diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp
index 89afb4a8ea..8393896db1 100644
--- a/modules/navigation/navigation_mesh_generator.cpp
+++ b/modules/navigation/navigation_mesh_generator.cpp
@@ -32,451 +32,11 @@
 
 #include "navigation_mesh_generator.h"
 
-#include "core/math/convex_hull.h"
-#include "core/os/thread.h"
-#include "scene/3d/mesh_instance_3d.h"
-#include "scene/3d/multimesh_instance_3d.h"
-#include "scene/3d/physics_body_3d.h"
-#include "scene/resources/box_shape_3d.h"
-#include "scene/resources/capsule_shape_3d.h"
-#include "scene/resources/concave_polygon_shape_3d.h"
-#include "scene/resources/convex_polygon_shape_3d.h"
-#include "scene/resources/cylinder_shape_3d.h"
-#include "scene/resources/height_map_shape_3d.h"
 #include "scene/resources/navigation_mesh_source_geometry_data_3d.h"
-#include "scene/resources/primitive_meshes.h"
-#include "scene/resources/shape_3d.h"
-#include "scene/resources/sphere_shape_3d.h"
-#include "scene/resources/world_boundary_shape_3d.h"
-
-#ifdef TOOLS_ENABLED
-#include "editor/editor_node.h"
-#endif
-
-#include "modules/modules_enabled.gen.h" // For csg, gridmap.
-
-#ifdef MODULE_CSG_ENABLED
-#include "modules/csg/csg_shape.h"
-#endif
-#ifdef MODULE_GRIDMAP_ENABLED
-#include "modules/gridmap/grid_map.h"
-#endif
+#include "servers/navigation_server_3d.h"
 
 NavigationMeshGenerator *NavigationMeshGenerator::singleton = nullptr;
 
-void NavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector<float> &p_vertices) {
-	p_vertices.push_back(p_vec3.x);
-	p_vertices.push_back(p_vec3.y);
-	p_vertices.push_back(p_vec3.z);
-}
-
-void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
-	int current_vertex_count;
-
-	for (int i = 0; i < p_mesh->get_surface_count(); i++) {
-		current_vertex_count = p_vertices.size() / 3;
-
-		if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) {
-			continue;
-		}
-
-		int index_count = 0;
-		if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
-			index_count = p_mesh->surface_get_array_index_len(i);
-		} else {
-			index_count = p_mesh->surface_get_array_len(i);
-		}
-
-		ERR_CONTINUE((index_count == 0 || (index_count % 3) != 0));
-
-		int face_count = index_count / 3;
-
-		Array a = p_mesh->surface_get_arrays(i);
-		ERR_CONTINUE(a.is_empty() || (a.size() != Mesh::ARRAY_MAX));
-
-		Vector<Vector3> mesh_vertices = a[Mesh::ARRAY_VERTEX];
-		ERR_CONTINUE(mesh_vertices.is_empty());
-		const Vector3 *vr = mesh_vertices.ptr();
-
-		if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
-			Vector<int> mesh_indices = a[Mesh::ARRAY_INDEX];
-			ERR_CONTINUE(mesh_indices.is_empty() || (mesh_indices.size() != index_count));
-			const int *ir = mesh_indices.ptr();
-
-			for (int j = 0; j < mesh_vertices.size(); j++) {
-				_add_vertex(p_xform.xform(vr[j]), p_vertices);
-			}
-
-			for (int j = 0; j < face_count; j++) {
-				// CCW
-				p_indices.push_back(current_vertex_count + (ir[j * 3 + 0]));
-				p_indices.push_back(current_vertex_count + (ir[j * 3 + 2]));
-				p_indices.push_back(current_vertex_count + (ir[j * 3 + 1]));
-			}
-		} else {
-			ERR_CONTINUE(mesh_vertices.size() != index_count);
-			face_count = mesh_vertices.size() / 3;
-			for (int j = 0; j < face_count; j++) {
-				_add_vertex(p_xform.xform(vr[j * 3 + 0]), p_vertices);
-				_add_vertex(p_xform.xform(vr[j * 3 + 2]), p_vertices);
-				_add_vertex(p_xform.xform(vr[j * 3 + 1]), p_vertices);
-
-				p_indices.push_back(current_vertex_count + (j * 3 + 0));
-				p_indices.push_back(current_vertex_count + (j * 3 + 1));
-				p_indices.push_back(current_vertex_count + (j * 3 + 2));
-			}
-		}
-	}
-}
-
-void NavigationMeshGenerator::_add_mesh_array(const Array &p_array, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
-	ERR_FAIL_COND(p_array.size() != Mesh::ARRAY_MAX);
-
-	Vector<Vector3> mesh_vertices = p_array[Mesh::ARRAY_VERTEX];
-	ERR_FAIL_COND(mesh_vertices.is_empty());
-	const Vector3 *vr = mesh_vertices.ptr();
-
-	Vector<int> mesh_indices = p_array[Mesh::ARRAY_INDEX];
-	ERR_FAIL_COND(mesh_indices.is_empty());
-	const int *ir = mesh_indices.ptr();
-
-	const int face_count = mesh_indices.size() / 3;
-	const int current_vertex_count = p_vertices.size() / 3;
-
-	for (int j = 0; j < mesh_vertices.size(); j++) {
-		_add_vertex(p_xform.xform(vr[j]), p_vertices);
-	}
-
-	for (int j = 0; j < face_count; j++) {
-		// CCW
-		p_indices.push_back(current_vertex_count + (ir[j * 3 + 0]));
-		p_indices.push_back(current_vertex_count + (ir[j * 3 + 2]));
-		p_indices.push_back(current_vertex_count + (ir[j * 3 + 1]));
-	}
-}
-
-void NavigationMeshGenerator::_add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
-	ERR_FAIL_COND(p_faces.is_empty());
-	ERR_FAIL_COND(p_faces.size() % 3 != 0);
-	int face_count = p_faces.size() / 3;
-	int current_vertex_count = p_vertices.size() / 3;
-
-	for (int j = 0; j < face_count; j++) {
-		_add_vertex(p_xform.xform(p_faces[j * 3 + 0]), p_vertices);
-		_add_vertex(p_xform.xform(p_faces[j * 3 + 1]), p_vertices);
-		_add_vertex(p_xform.xform(p_faces[j * 3 + 2]), p_vertices);
-
-		p_indices.push_back(current_vertex_count + (j * 3 + 0));
-		p_indices.push_back(current_vertex_count + (j * 3 + 2));
-		p_indices.push_back(current_vertex_count + (j * 3 + 1));
-	}
-}
-
-void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_transform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children) {
-	if (Object::cast_to<MeshInstance3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
-		MeshInstance3D *mesh_instance = Object::cast_to<MeshInstance3D>(p_node);
-		Ref<Mesh> mesh = mesh_instance->get_mesh();
-		if (mesh.is_valid()) {
-			_add_mesh(mesh, p_navmesh_transform * mesh_instance->get_global_transform(), p_vertices, p_indices);
-		}
-	}
-
-	if (Object::cast_to<MultiMeshInstance3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
-		MultiMeshInstance3D *multimesh_instance = Object::cast_to<MultiMeshInstance3D>(p_node);
-		Ref<MultiMesh> multimesh = multimesh_instance->get_multimesh();
-		if (multimesh.is_valid()) {
-			Ref<Mesh> mesh = multimesh->get_mesh();
-			if (mesh.is_valid()) {
-				int n = multimesh->get_visible_instance_count();
-				if (n == -1) {
-					n = multimesh->get_instance_count();
-				}
-				for (int i = 0; i < n; i++) {
-					_add_mesh(mesh, p_navmesh_transform * multimesh_instance->get_global_transform() * multimesh->get_instance_transform(i), p_vertices, p_indices);
-				}
-			}
-		}
-	}
-
-#ifdef MODULE_CSG_ENABLED
-	if (Object::cast_to<CSGShape3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
-		CSGShape3D *csg_shape = Object::cast_to<CSGShape3D>(p_node);
-		Array meshes = csg_shape->get_meshes();
-		if (!meshes.is_empty()) {
-			Ref<Mesh> mesh = meshes[1];
-			if (mesh.is_valid()) {
-				_add_mesh(mesh, p_navmesh_transform * csg_shape->get_global_transform(), p_vertices, p_indices);
-			}
-		}
-	}
-#endif
-
-	if (Object::cast_to<StaticBody3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES) {
-		StaticBody3D *static_body = Object::cast_to<StaticBody3D>(p_node);
-
-		if (static_body->get_collision_layer() & p_collision_mask) {
-			List<uint32_t> shape_owners;
-			static_body->get_shape_owners(&shape_owners);
-			for (uint32_t shape_owner : shape_owners) {
-				if (static_body->is_shape_owner_disabled(shape_owner)) {
-					continue;
-				}
-				const int shape_count = static_body->shape_owner_get_shape_count(shape_owner);
-				for (int i = 0; i < shape_count; i++) {
-					Ref<Shape3D> s = static_body->shape_owner_get_shape(shape_owner, i);
-					if (s.is_null()) {
-						continue;
-					}
-
-					const Transform3D transform = p_navmesh_transform * static_body->get_global_transform() * static_body->shape_owner_get_transform(shape_owner);
-
-					BoxShape3D *box = Object::cast_to<BoxShape3D>(*s);
-					if (box) {
-						Array arr;
-						arr.resize(RS::ARRAY_MAX);
-						BoxMesh::create_mesh_array(arr, box->get_size());
-						_add_mesh_array(arr, transform, p_vertices, p_indices);
-					}
-
-					CapsuleShape3D *capsule = Object::cast_to<CapsuleShape3D>(*s);
-					if (capsule) {
-						Array arr;
-						arr.resize(RS::ARRAY_MAX);
-						CapsuleMesh::create_mesh_array(arr, capsule->get_radius(), capsule->get_height());
-						_add_mesh_array(arr, transform, p_vertices, p_indices);
-					}
-
-					CylinderShape3D *cylinder = Object::cast_to<CylinderShape3D>(*s);
-					if (cylinder) {
-						Array arr;
-						arr.resize(RS::ARRAY_MAX);
-						CylinderMesh::create_mesh_array(arr, cylinder->get_radius(), cylinder->get_radius(), cylinder->get_height());
-						_add_mesh_array(arr, transform, p_vertices, p_indices);
-					}
-
-					SphereShape3D *sphere = Object::cast_to<SphereShape3D>(*s);
-					if (sphere) {
-						Array arr;
-						arr.resize(RS::ARRAY_MAX);
-						SphereMesh::create_mesh_array(arr, sphere->get_radius(), sphere->get_radius() * 2.0);
-						_add_mesh_array(arr, transform, p_vertices, p_indices);
-					}
-
-					ConcavePolygonShape3D *concave_polygon = Object::cast_to<ConcavePolygonShape3D>(*s);
-					if (concave_polygon) {
-						_add_faces(concave_polygon->get_faces(), transform, p_vertices, p_indices);
-					}
-
-					ConvexPolygonShape3D *convex_polygon = Object::cast_to<ConvexPolygonShape3D>(*s);
-					if (convex_polygon) {
-						Vector<Vector3> varr = Variant(convex_polygon->get_points());
-						Geometry3D::MeshData md;
-
-						Error err = ConvexHullComputer::convex_hull(varr, md);
-
-						if (err == OK) {
-							PackedVector3Array faces;
-
-							for (const Geometry3D::MeshData::Face &face : md.faces) {
-								for (uint32_t k = 2; k < face.indices.size(); ++k) {
-									faces.push_back(md.vertices[face.indices[0]]);
-									faces.push_back(md.vertices[face.indices[k - 1]]);
-									faces.push_back(md.vertices[face.indices[k]]);
-								}
-							}
-
-							_add_faces(faces, transform, p_vertices, p_indices);
-						}
-					}
-
-					HeightMapShape3D *heightmap_shape = Object::cast_to<HeightMapShape3D>(*s);
-					if (heightmap_shape) {
-						int heightmap_depth = heightmap_shape->get_map_depth();
-						int heightmap_width = heightmap_shape->get_map_width();
-
-						if (heightmap_depth >= 2 && heightmap_width >= 2) {
-							const Vector<real_t> &map_data = heightmap_shape->get_map_data();
-
-							Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
-							Vector2 start = heightmap_gridsize * -0.5;
-
-							Vector<Vector3> vertex_array;
-							vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
-							int map_data_current_index = 0;
-
-							for (int d = 0; d < heightmap_depth; d++) {
-								for (int w = 0; w < heightmap_width; w++) {
-									if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
-										float top_left_height = map_data[map_data_current_index];
-										float top_right_height = map_data[map_data_current_index + 1];
-										float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
-										float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
-
-										Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
-										Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
-										Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
-										Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
-
-										vertex_array.push_back(top_right);
-										vertex_array.push_back(bottom_left);
-										vertex_array.push_back(top_left);
-										vertex_array.push_back(top_right);
-										vertex_array.push_back(bottom_right);
-										vertex_array.push_back(bottom_left);
-									}
-									map_data_current_index += 1;
-								}
-							}
-							if (vertex_array.size() > 0) {
-								_add_faces(vertex_array, transform, p_vertices, p_indices);
-							}
-						}
-					}
-				}
-			}
-		}
-	}
-
-#ifdef MODULE_GRIDMAP_ENABLED
-	GridMap *gridmap = Object::cast_to<GridMap>(p_node);
-
-	if (gridmap) {
-		if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
-			Array meshes = gridmap->get_meshes();
-			Transform3D xform = gridmap->get_global_transform();
-			for (int i = 0; i < meshes.size(); i += 2) {
-				Ref<Mesh> mesh = meshes[i + 1];
-				if (mesh.is_valid()) {
-					_add_mesh(mesh, p_navmesh_transform * xform * (Transform3D)meshes[i], p_vertices, p_indices);
-				}
-			}
-		}
-
-		if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES && (gridmap->get_collision_layer() & p_collision_mask)) {
-			Array shapes = gridmap->get_collision_shapes();
-			for (int i = 0; i < shapes.size(); i += 2) {
-				RID shape = shapes[i + 1];
-				PhysicsServer3D::ShapeType type = PhysicsServer3D::get_singleton()->shape_get_type(shape);
-				Variant data = PhysicsServer3D::get_singleton()->shape_get_data(shape);
-
-				switch (type) {
-					case PhysicsServer3D::SHAPE_SPHERE: {
-						real_t radius = data;
-						Array arr;
-						arr.resize(RS::ARRAY_MAX);
-						SphereMesh::create_mesh_array(arr, radius, radius * 2.0);
-						_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
-					} break;
-					case PhysicsServer3D::SHAPE_BOX: {
-						Vector3 extents = data;
-						Array arr;
-						arr.resize(RS::ARRAY_MAX);
-						BoxMesh::create_mesh_array(arr, extents * 2.0);
-						_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
-					} break;
-					case PhysicsServer3D::SHAPE_CAPSULE: {
-						Dictionary dict = data;
-						real_t radius = dict["radius"];
-						real_t height = dict["height"];
-						Array arr;
-						arr.resize(RS::ARRAY_MAX);
-						CapsuleMesh::create_mesh_array(arr, radius, height);
-						_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
-					} break;
-					case PhysicsServer3D::SHAPE_CYLINDER: {
-						Dictionary dict = data;
-						real_t radius = dict["radius"];
-						real_t height = dict["height"];
-						Array arr;
-						arr.resize(RS::ARRAY_MAX);
-						CylinderMesh::create_mesh_array(arr, radius, radius, height);
-						_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
-					} break;
-					case PhysicsServer3D::SHAPE_CONVEX_POLYGON: {
-						PackedVector3Array vertices = data;
-						Geometry3D::MeshData md;
-
-						Error err = ConvexHullComputer::convex_hull(vertices, md);
-
-						if (err == OK) {
-							PackedVector3Array faces;
-
-							for (const Geometry3D::MeshData::Face &face : md.faces) {
-								for (uint32_t k = 2; k < face.indices.size(); ++k) {
-									faces.push_back(md.vertices[face.indices[0]]);
-									faces.push_back(md.vertices[face.indices[k - 1]]);
-									faces.push_back(md.vertices[face.indices[k]]);
-								}
-							}
-
-							_add_faces(faces, shapes[i], p_vertices, p_indices);
-						}
-					} break;
-					case PhysicsServer3D::SHAPE_CONCAVE_POLYGON: {
-						Dictionary dict = data;
-						PackedVector3Array faces = Variant(dict["faces"]);
-						_add_faces(faces, shapes[i], p_vertices, p_indices);
-					} break;
-					case PhysicsServer3D::SHAPE_HEIGHTMAP: {
-						Dictionary dict = data;
-						///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
-						int heightmap_depth = dict["depth"];
-						int heightmap_width = dict["width"];
-
-						if (heightmap_depth >= 2 && heightmap_width >= 2) {
-							const Vector<real_t> &map_data = dict["heights"];
-
-							Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
-							Vector2 start = heightmap_gridsize * -0.5;
-
-							Vector<Vector3> vertex_array;
-							vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
-							int map_data_current_index = 0;
-
-							for (int d = 0; d < heightmap_depth; d++) {
-								for (int w = 0; w < heightmap_width; w++) {
-									if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
-										float top_left_height = map_data[map_data_current_index];
-										float top_right_height = map_data[map_data_current_index + 1];
-										float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
-										float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
-
-										Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
-										Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
-										Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
-										Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
-
-										vertex_array.push_back(top_right);
-										vertex_array.push_back(bottom_left);
-										vertex_array.push_back(top_left);
-										vertex_array.push_back(top_right);
-										vertex_array.push_back(bottom_right);
-										vertex_array.push_back(bottom_left);
-									}
-									map_data_current_index += 1;
-								}
-							}
-							if (vertex_array.size() > 0) {
-								_add_faces(vertex_array, shapes[i], p_vertices, p_indices);
-							}
-						}
-					} break;
-					default: {
-						WARN_PRINT("Unsupported collision shape type.");
-					} break;
-				}
-			}
-		}
-	}
-#endif
-
-	if (p_recurse_children) {
-		for (int i = 0; i < p_node->get_child_count(); i++) {
-			_parse_geometry(p_navmesh_transform, p_node->get_child(i), p_vertices, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
-		}
-	}
-}
-
 NavigationMeshGenerator *NavigationMeshGenerator::get_singleton() {
 	return singleton;
 }
@@ -500,285 +60,11 @@ void NavigationMeshGenerator::clear(Ref<NavigationMesh> p_navigation_mesh) {
 }
 
 void NavigationMeshGenerator::parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
-	ERR_FAIL_COND_MSG(!Thread::is_main_thread(), "The SceneTree can only be parsed on the main thread. Call this function from the main thread or use call_deferred().");
-	ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh.");
-	ERR_FAIL_COND_MSG(p_root_node == nullptr, "No parsing root node specified.");
-	ERR_FAIL_COND_MSG(!p_root_node->is_inside_tree(), "The root node needs to be inside the SceneTree.");
-
-	Vector<float> vertices;
-	Vector<int> indices;
-
-	List<Node *> parse_nodes;
-
-	if (p_navigation_mesh->get_source_geometry_mode() == NavigationMesh::SOURCE_GEOMETRY_ROOT_NODE_CHILDREN) {
-		parse_nodes.push_back(p_root_node);
-	} else {
-		p_root_node->get_tree()->get_nodes_in_group(p_navigation_mesh->get_source_group_name(), &parse_nodes);
-	}
-
-	Transform3D navmesh_xform = Transform3D();
-	if (Object::cast_to<Node3D>(p_root_node)) {
-		navmesh_xform = Object::cast_to<Node3D>(p_root_node)->get_global_transform().affine_inverse();
-	}
-	for (Node *E : parse_nodes) {
-		NavigationMesh::ParsedGeometryType geometry_type = p_navigation_mesh->get_parsed_geometry_type();
-		uint32_t collision_mask = p_navigation_mesh->get_collision_mask();
-		bool recurse_children = p_navigation_mesh->get_source_geometry_mode() != NavigationMesh::SOURCE_GEOMETRY_GROUPS_EXPLICIT;
-		_parse_geometry(navmesh_xform, E, vertices, indices, geometry_type, collision_mask, recurse_children);
-	}
-
-	p_source_geometry_data->set_vertices(vertices);
-	p_source_geometry_data->set_indices(indices);
-
-	if (p_callback.is_valid()) {
-		Callable::CallError ce;
-		Variant result;
-		p_callback.callp(nullptr, 0, result, ce);
-		if (ce.error == Callable::CallError::CALL_OK) {
-			//
-		}
-	}
+	NavigationServer3D::get_singleton()->parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node, p_callback);
 }
 
 void NavigationMeshGenerator::bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback) {
-	ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh.");
-	ERR_FAIL_COND_MSG(!p_source_geometry_data.is_valid(), "Invalid NavigationMeshSourceGeometryData3D.");
-	ERR_FAIL_COND_MSG(!p_source_geometry_data->has_data(), "NavigationMeshSourceGeometryData3D is empty. Parse source geometry first.");
-
-	generator_mutex.lock();
-	if (baking_navmeshes.has(p_navigation_mesh)) {
-		generator_mutex.unlock();
-		ERR_FAIL_MSG("NavigationMesh is already baking. Wait for current bake to finish.");
-	} else {
-		baking_navmeshes.insert(p_navigation_mesh);
-		generator_mutex.unlock();
-	}
-
-#ifndef _3D_DISABLED
-	const Vector<float> vertices = p_source_geometry_data->get_vertices();
-	const Vector<int> indices = p_source_geometry_data->get_indices();
-
-	if (vertices.size() < 3 || indices.size() < 3) {
-		return;
-	}
-
-	rcHeightfield *hf = nullptr;
-	rcCompactHeightfield *chf = nullptr;
-	rcContourSet *cset = nullptr;
-	rcPolyMesh *poly_mesh = nullptr;
-	rcPolyMeshDetail *detail_mesh = nullptr;
-	rcContext ctx;
-
-	// added to keep track of steps, no functionality right now
-	String bake_state = "";
-
-	bake_state = "Setting up Configuration..."; // step #1
-
-	const float *verts = vertices.ptr();
-	const int nverts = vertices.size() / 3;
-	const int *tris = indices.ptr();
-	const int ntris = indices.size() / 3;
-
-	float bmin[3], bmax[3];
-	rcCalcBounds(verts, nverts, bmin, bmax);
-
-	rcConfig cfg;
-	memset(&cfg, 0, sizeof(cfg));
-
-	cfg.cs = p_navigation_mesh->get_cell_size();
-	cfg.ch = p_navigation_mesh->get_cell_height();
-	cfg.walkableSlopeAngle = p_navigation_mesh->get_agent_max_slope();
-	cfg.walkableHeight = (int)Math::ceil(p_navigation_mesh->get_agent_height() / cfg.ch);
-	cfg.walkableClimb = (int)Math::floor(p_navigation_mesh->get_agent_max_climb() / cfg.ch);
-	cfg.walkableRadius = (int)Math::ceil(p_navigation_mesh->get_agent_radius() / cfg.cs);
-	cfg.maxEdgeLen = (int)(p_navigation_mesh->get_edge_max_length() / p_navigation_mesh->get_cell_size());
-	cfg.maxSimplificationError = p_navigation_mesh->get_edge_max_error();
-	cfg.minRegionArea = (int)(p_navigation_mesh->get_region_min_size() * p_navigation_mesh->get_region_min_size());
-	cfg.mergeRegionArea = (int)(p_navigation_mesh->get_region_merge_size() * p_navigation_mesh->get_region_merge_size());
-	cfg.maxVertsPerPoly = (int)p_navigation_mesh->get_vertices_per_polygon();
-	cfg.detailSampleDist = MAX(p_navigation_mesh->get_cell_size() * p_navigation_mesh->get_detail_sample_distance(), 0.1f);
-	cfg.detailSampleMaxError = p_navigation_mesh->get_cell_height() * p_navigation_mesh->get_detail_sample_max_error();
-
-	if (!Math::is_equal_approx((float)cfg.walkableHeight * cfg.ch, p_navigation_mesh->get_agent_height())) {
-		WARN_PRINT("Property agent_height is ceiled to cell_height voxel units and loses precision.");
-	}
-	if (!Math::is_equal_approx((float)cfg.walkableClimb * cfg.ch, p_navigation_mesh->get_agent_max_climb())) {
-		WARN_PRINT("Property agent_max_climb is floored to cell_height voxel units and loses precision.");
-	}
-	if (!Math::is_equal_approx((float)cfg.walkableRadius * cfg.cs, p_navigation_mesh->get_agent_radius())) {
-		WARN_PRINT("Property agent_radius is ceiled to cell_size voxel units and loses precision.");
-	}
-	if (!Math::is_equal_approx((float)cfg.maxEdgeLen * cfg.cs, p_navigation_mesh->get_edge_max_length())) {
-		WARN_PRINT("Property edge_max_length is rounded to cell_size voxel units and loses precision.");
-	}
-	if (!Math::is_equal_approx((float)cfg.minRegionArea, p_navigation_mesh->get_region_min_size() * p_navigation_mesh->get_region_min_size())) {
-		WARN_PRINT("Property region_min_size is converted to int and loses precision.");
-	}
-	if (!Math::is_equal_approx((float)cfg.mergeRegionArea, p_navigation_mesh->get_region_merge_size() * p_navigation_mesh->get_region_merge_size())) {
-		WARN_PRINT("Property region_merge_size is converted to int and loses precision.");
-	}
-	if (!Math::is_equal_approx((float)cfg.maxVertsPerPoly, p_navigation_mesh->get_vertices_per_polygon())) {
-		WARN_PRINT("Property vertices_per_polygon is converted to int and loses precision.");
-	}
-	if (p_navigation_mesh->get_cell_size() * p_navigation_mesh->get_detail_sample_distance() < 0.1f) {
-		WARN_PRINT("Property detail_sample_distance is clamped to 0.1 world units as the resulting value from multiplying with cell_size is too low.");
-	}
-
-	cfg.bmin[0] = bmin[0];
-	cfg.bmin[1] = bmin[1];
-	cfg.bmin[2] = bmin[2];
-	cfg.bmax[0] = bmax[0];
-	cfg.bmax[1] = bmax[1];
-	cfg.bmax[2] = bmax[2];
-
-	AABB baking_aabb = p_navigation_mesh->get_filter_baking_aabb();
-	if (baking_aabb.has_volume()) {
-		Vector3 baking_aabb_offset = p_navigation_mesh->get_filter_baking_aabb_offset();
-		cfg.bmin[0] = baking_aabb.position[0] + baking_aabb_offset.x;
-		cfg.bmin[1] = baking_aabb.position[1] + baking_aabb_offset.y;
-		cfg.bmin[2] = baking_aabb.position[2] + baking_aabb_offset.z;
-		cfg.bmax[0] = cfg.bmin[0] + baking_aabb.size[0];
-		cfg.bmax[1] = cfg.bmin[1] + baking_aabb.size[1];
-		cfg.bmax[2] = cfg.bmin[2] + baking_aabb.size[2];
-	}
-
-	bake_state = "Calculating grid size..."; // step #2
-	rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
-
-	// ~30000000 seems to be around sweetspot where Editor baking breaks
-	if ((cfg.width * cfg.height) > 30000000) {
-		WARN_PRINT("NavigationMesh baking process will likely fail."
-				   "\nSource geometry is suspiciously big for the current Cell Size and Cell Height in the NavMesh Resource bake settings."
-				   "\nIf baking does not fail, the resulting NavigationMesh will create serious pathfinding performance issues."
-				   "\nIt is advised to increase Cell Size and/or Cell Height in the NavMesh Resource bake settings or reduce the size / scale of the source geometry.");
-	}
-
-	bake_state = "Creating heightfield..."; // step #3
-	hf = rcAllocHeightfield();
-
-	ERR_FAIL_COND(!hf);
-	ERR_FAIL_COND(!rcCreateHeightfield(&ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch));
-
-	bake_state = "Marking walkable triangles..."; // step #4
-	{
-		Vector<unsigned char> tri_areas;
-		tri_areas.resize(ntris);
-
-		ERR_FAIL_COND(tri_areas.size() == 0);
-
-		memset(tri_areas.ptrw(), 0, ntris * sizeof(unsigned char));
-		rcMarkWalkableTriangles(&ctx, cfg.walkableSlopeAngle, verts, nverts, tris, ntris, tri_areas.ptrw());
-
-		ERR_FAIL_COND(!rcRasterizeTriangles(&ctx, verts, nverts, tris, tri_areas.ptr(), ntris, *hf, cfg.walkableClimb));
-	}
-
-	if (p_navigation_mesh->get_filter_low_hanging_obstacles()) {
-		rcFilterLowHangingWalkableObstacles(&ctx, cfg.walkableClimb, *hf);
-	}
-	if (p_navigation_mesh->get_filter_ledge_spans()) {
-		rcFilterLedgeSpans(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf);
-	}
-	if (p_navigation_mesh->get_filter_walkable_low_height_spans()) {
-		rcFilterWalkableLowHeightSpans(&ctx, cfg.walkableHeight, *hf);
-	}
-
-	bake_state = "Constructing compact heightfield..."; // step #5
-
-	chf = rcAllocCompactHeightfield();
-
-	ERR_FAIL_COND(!chf);
-	ERR_FAIL_COND(!rcBuildCompactHeightfield(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf, *chf));
-
-	rcFreeHeightField(hf);
-	hf = nullptr;
-
-	bake_state = "Eroding walkable area..."; // step #6
-
-	ERR_FAIL_COND(!rcErodeWalkableArea(&ctx, cfg.walkableRadius, *chf));
-
-	bake_state = "Partitioning..."; // step #7
-
-	if (p_navigation_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) {
-		ERR_FAIL_COND(!rcBuildDistanceField(&ctx, *chf));
-		ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
-	} else if (p_navigation_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_MONOTONE) {
-		ERR_FAIL_COND(!rcBuildRegionsMonotone(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
-	} else {
-		ERR_FAIL_COND(!rcBuildLayerRegions(&ctx, *chf, 0, cfg.minRegionArea));
-	}
-
-	bake_state = "Creating contours..."; // step #8
-
-	cset = rcAllocContourSet();
-
-	ERR_FAIL_COND(!cset);
-	ERR_FAIL_COND(!rcBuildContours(&ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset));
-
-	bake_state = "Creating polymesh..."; // step #9
-
-	poly_mesh = rcAllocPolyMesh();
-	ERR_FAIL_COND(!poly_mesh);
-	ERR_FAIL_COND(!rcBuildPolyMesh(&ctx, *cset, cfg.maxVertsPerPoly, *poly_mesh));
-
-	detail_mesh = rcAllocPolyMeshDetail();
-	ERR_FAIL_COND(!detail_mesh);
-	ERR_FAIL_COND(!rcBuildPolyMeshDetail(&ctx, *poly_mesh, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *detail_mesh));
-
-	rcFreeCompactHeightfield(chf);
-	chf = nullptr;
-	rcFreeContourSet(cset);
-	cset = nullptr;
-
-	bake_state = "Converting to native navigation mesh..."; // step #10
-
-	Vector<Vector3> nav_vertices;
-
-	for (int i = 0; i < detail_mesh->nverts; i++) {
-		const float *v = &detail_mesh->verts[i * 3];
-		nav_vertices.push_back(Vector3(v[0], v[1], v[2]));
-	}
-	p_navigation_mesh->set_vertices(nav_vertices);
-	p_navigation_mesh->clear_polygons();
-
-	for (int i = 0; i < detail_mesh->nmeshes; i++) {
-		const unsigned int *detail_mesh_m = &detail_mesh->meshes[i * 4];
-		const unsigned int detail_mesh_bverts = detail_mesh_m[0];
-		const unsigned int detail_mesh_m_btris = detail_mesh_m[2];
-		const unsigned int detail_mesh_ntris = detail_mesh_m[3];
-		const unsigned char *detail_mesh_tris = &detail_mesh->tris[detail_mesh_m_btris * 4];
-		for (unsigned int j = 0; j < detail_mesh_ntris; j++) {
-			Vector<int> nav_indices;
-			nav_indices.resize(3);
-			// Polygon order in recast is opposite than godot's
-			nav_indices.write[0] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 0]));
-			nav_indices.write[1] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 2]));
-			nav_indices.write[2] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 1]));
-			p_navigation_mesh->add_polygon(nav_indices);
-		}
-	}
-
-	bake_state = "Cleanup..."; // step #11
-
-	rcFreePolyMesh(poly_mesh);
-	poly_mesh = nullptr;
-	rcFreePolyMeshDetail(detail_mesh);
-	detail_mesh = nullptr;
-
-	bake_state = "Baking finished."; // step #12
-#endif // _3D_DISABLED
-
-	generator_mutex.lock();
-	baking_navmeshes.erase(p_navigation_mesh);
-	generator_mutex.unlock();
-
-	if (p_callback.is_valid()) {
-		Callable::CallError ce;
-		Variant result;
-		p_callback.callp(nullptr, 0, result, ce);
-		if (ce.error == Callable::CallError::CALL_OK) {
-			//
-		}
-	}
+	NavigationServer3D::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
 }
 
 void NavigationMeshGenerator::_bind_methods() {