Will Smith and Martin Lawrence narrowly avoided getting hit with a missile on set of the fourth installment of their hit action franchise, Bad Boys, in Atlanta.

While filming a scene, in which part of the Gatorland amusement park is left partially in ruins, the 54-year-old Oscar winner, and comedian, 58, are both dressed in full law enforcement gear.

As cameras rolled, the father-of-three, who portrays Detective Mike Lowrey, could be springing into action as he sported a badge and bulletproof vest as well as a walkie talkie strapped to his shoulder.

His character held onto a large black prop assault-style rifle, and could be ducking down several times next to a body sprawled on the ground between him and Lawrence.

Lawrence, best known for his hit sitcom Martin, which ran from 1992 to 1997, also wore a bulletproof vest, with ‘police’ on the front and a pair of black sunglasses.

He plays Detective Lieutenant Marcus Miles Burnett, one of the Bad Boys franchise’s two main protagonists.

Smith and Lawrence have portrayed the police officers since the first Bad Boys feature, which was released in 1995.

They reprised their roles in the movie’s two sequels, which premiered in 2003 and 2020, respectively.

A spinoff series based on the films, entitled L.A.’s Finest, premiered in 2019 and did not feature participation from either of its longtime stars.

The Hollywood Reporter previously confirmed that the fourth Bad Boys movie was officially being developed in 2020.

At the time, it was confirmed that both Smith and Lawrence were expected to reprised their longtime roles as Lowrey and Burnett.

Performers such as Vanessa Hudgens, Alexander Ludwig and Paola Nunez are also set to appear in the feature.

Work on the film was said to have been paused after the Fresh Prince of Bel-Air star became the subject of controversy regarding his slapping of Chris Rock at the 2022 Academy Awards ceremony, when several of his other projects were stalled.

However, Sony Chairman Tom Rothman later spoke to Deadline and confirmed that the project was still being actively developed.

Smith officially confirmed that he would reprise his role alongside Lawrence this past February, when Adil El Arbi and Bilall Fallah were also announced as the project’s directors.

The filmmaking duo previously directed the third feature in the franchise, which was met with a generally positive reception from audiences.

Physical production on the upcoming feature commenced last month, with filming taking place in both Miami and Atlanta.

The upcoming fourth Bad Boys movie does not have a scheduled release date as of yet, but is likely to come out sometime in 2024.

Last month, Smith and Lawrence were seen filming an extremely dramatic scene, which involved the King Richard star talking his costar, who was dressed in an apparent hospital gown, off a ledge on a rooftop.

Smith was seen gesturing to Lawrence to get down, then giving him a hug.