2 files changed, 28 insertions, 5 deletions

diff --git a/scene/3d/navigation_obstacle_3d.cpp b/scene/3d/navigation_obstacle_3d.cpp
index 4d7ea13510..b1026f6e55 100644
--- a/scene/3d/navigation_obstacle_3d.cpp
+++ b/scene/3d/navigation_obstacle_3d.cpp
@@ -96,7 +96,7 @@ void NavigationObstacle3D::_notification(int p_what) {
 			}
 			// need to trigger map controlled agent assignment somehow for the fake_agent since obstacles use no callback like regular agents
 			NavigationServer3D::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
-			_update_position(get_global_position());
+			_update_transform();
 			set_physics_process_internal(true);
 #ifdef DEBUG_ENABLED
 			_update_debug();
@@ -155,7 +155,7 @@ void NavigationObstacle3D::_notification(int p_what) {
 
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
 			if (is_inside_tree()) {
-				_update_position(get_global_position());
+				_update_transform();
 
 				if (velocity_submitted) {
 					velocity_submitted = false;
@@ -260,7 +260,11 @@ NavigationObstacle3D::~NavigationObstacle3D() {
 void NavigationObstacle3D::set_vertices(const Vector<Vector3> &p_vertices) {
 	vertices = p_vertices;
 
-	NavigationServer3D::get_singleton()->obstacle_set_vertices(obstacle, vertices);
+	const Basis basis = is_inside_tree() ? get_global_basis() : get_basis();
+	const float rotation_y = is_inside_tree() ? get_global_rotation().y : get_rotation().y;
+	const Vector3 safe_scale = basis.get_scale().abs().maxf(0.001);
+	const Transform3D safe_transform = Transform3D(Basis().scaled(safe_scale).rotated(Vector3(0.0, 1.0, 0.0), rotation_y), Vector3());
+	NavigationServer3D::get_singleton()->obstacle_set_vertices(obstacle, safe_transform.xform(vertices));
 #ifdef DEBUG_ENABLED
 	_update_static_obstacle_debug();
 	update_gizmos();
@@ -291,7 +295,10 @@ void NavigationObstacle3D::set_radius(real_t p_radius) {
 	}
 
 	radius = p_radius;
-	NavigationServer3D::get_singleton()->obstacle_set_radius(obstacle, radius);
+
+	// Prevent non-positive or non-uniform scaling of dynamic obstacle radius.
+	const Vector3 safe_scale = (is_inside_tree() ? get_global_basis() : get_basis()).get_scale().abs().maxf(0.001);
+	NavigationServer3D::get_singleton()->obstacle_set_radius(obstacle, safe_scale[safe_scale.max_axis_index()] * radius);
 
 #ifdef DEBUG_ENABLED
 	_update_fake_agent_radius_debug();
@@ -306,7 +313,8 @@ void NavigationObstacle3D::set_height(real_t p_height) {
 	}
 
 	height = p_height;
-	NavigationServer3D::get_singleton()->obstacle_set_height(obstacle, height);
+	const float scale_factor = MAX(Math::abs((is_inside_tree() ? get_global_basis() : get_basis()).get_scale().y), 0.001);
+	NavigationServer3D::get_singleton()->obstacle_set_height(obstacle, scale_factor * height);
 
 #ifdef DEBUG_ENABLED
 	_update_static_obstacle_debug();
@@ -409,6 +417,20 @@ void NavigationObstacle3D::_update_position(const Vector3 p_position) {
 	NavigationServer3D::get_singleton()->obstacle_set_position(obstacle, p_position);
 }
 
+void NavigationObstacle3D::_update_transform() {
+	_update_position(get_global_position());
+
+	// Prevent non-positive or non-uniform scaling of dynamic obstacle radius.
+	const Vector3 safe_scale = get_global_basis().get_scale().abs().maxf(0.001);
+	const float scaling_max_value = safe_scale[safe_scale.max_axis_index()];
+	NavigationServer3D::get_singleton()->obstacle_set_radius(obstacle, scaling_max_value * radius);
+
+	// Apply modified node transform which only takes y-axis rotation into account to vertices.
+	const Transform3D safe_transform = Transform3D(Basis().scaled(safe_scale).rotated(Vector3(0.0, 1.0, 0.0), get_global_rotation().y), Vector3());
+	NavigationServer3D::get_singleton()->obstacle_set_vertices(obstacle, safe_transform.xform(vertices));
+	NavigationServer3D::get_singleton()->obstacle_set_height(obstacle, safe_scale.y * height);
+}
+
 void NavigationObstacle3D::_update_use_3d_avoidance(bool p_use_3d_avoidance) {
 	NavigationServer3D::get_singleton()->obstacle_set_use_3d_avoidance(obstacle, use_3d_avoidance);
 	_update_map(map_current);
diff --git a/scene/3d/navigation_obstacle_3d.h b/scene/3d/navigation_obstacle_3d.h
index 30b0e0f668..e8c687c2d8 100644
--- a/scene/3d/navigation_obstacle_3d.h
+++ b/scene/3d/navigation_obstacle_3d.h
@@ -123,6 +123,7 @@ public:
 private:
 	void _update_map(RID p_map);
 	void _update_position(const Vector3 p_position);
+	void _update_transform();
 	void _update_use_3d_avoidance(bool p_use_3d_avoidance);
 };