Will Smith and Martin Lawrence are nearly hit by a rocket on the set of Bad Boys 4 in Atlanta

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

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

As the cameras rolled, the father-of-three, who plays Detective Mike Lowrey, could get into action while wearing a badge and body armor, as well as a walkie-talkie strapped to his shoulder.

Holding on to a large black assault-style rifle, his character was able to dive down several times next to a body sprawled on the floor 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” written on the front and black sunglasses.

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

Dressed up as a cop: As the cameras rolled, the father-of-three, who plays Detective Mike Lowrey, could get into action wearing a badge and bulletproof vest, as well as a walkie-talkie strapped to his shoulder

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

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

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

A spin-off series based on the films, titled LA’s Finest, premiered in 2019 and did not feature any of the longtime stars.

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

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

Artists such as Vanessa Hudgens, Alexander Ludwig and Paola Nunez will also appear in the feature film.

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

Intense: Holding on to a large black machine gun, his character was able to dive down several times next to a body sprawled on the floor between him and Lawrence

On set: 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 black sunglasses

Bad Boys Franchise: He plays Detective Lieutenant Marcus Miles Burnett, one of the two protagonists of the Bad Boys franchise

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

However, Sony chairman Tom Rothman later spoke to him deadline and confirmed that the project was still under active development.

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

The filmmaker duo previously directed the third feature film in the franchise, which received a generally positive reception from audiences.

Going strong: The Hollywood Reporter previously confirmed that the fourth Bad Boys movie was officially in development in 2020

Star-studded cast: Artists like Vanessa Hudgens, Alexander Ludwig and Paola Nunez will also appear in the feature film

Well received: The filmmaker duo previously directed the third feature film in the franchise, which received a generally positive reception from audiences

Physical production on the upcoming feature film began last month, with shooting in both Miami and Atlanta

In the works: The upcoming fourth Bad Boys movie doesn’t have a scheduled release date yet, but it’s likely to release sometime in 2024

Lots of drama: Last month, Smith and Lawrence were seen filming an extremely dramatic scene, in which the King Richard star spoke to his costar, who was dressed in what appears to be a hospital gown, from a rooftop ledge

Physical production on the upcoming feature film began last month, with shooting in both Miami and Atlanta.

The upcoming fourth Bad Boys movie doesn’t have a scheduled release date yet, but it’s likely to release sometime in 2024.

Last month, Smith and Lawrence were spotted filming an extremely dramatic scene in which the King Richard star spoke to his costar, who was dressed in what appears to be a hospital gown, from a rooftop ledge.

Smith motioned for Lawrence to go downstairs and then gave him a hug.