diff --git a/CHANGELOG.md b/CHANGELOG.md
index ce01b7293..88d6049f1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -130,6 +130,7 @@
     Bug #6036: OpenMW-CS: Terrain selection at the border of cells omits certain corner vertices
     Bug #6043: Actor can have torch missing when torch animation is played
     Bug #6047: Mouse bindings can be triggered during save loading
+    Bug #6136: Game freezes when NPCs try to open doors that are about to be closed
     Feature #390: 3rd person look "over the shoulder"
     Feature #832: OpenMW-CS: Handle deleted references
     Feature #1536: Show more information about level on menu
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 085451e40..91c1bb961 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -500,8 +500,8 @@ else ()
         "${OpenMW_BINARY_DIR}/openmw.cfg")
 endif ()
 
-configure_resource_file(${OpenMW_SOURCE_DIR}/files/openmw-cs.cfg
-    "${OpenMW_BINARY_DIR}" "openmw-cs.cfg")
+pack_resource_file(${OpenMW_SOURCE_DIR}/files/openmw-cs.cfg
+    "${OpenMW_BINARY_DIR}" "defaults-cs.bin")
 
 # Needs the copy version because the configure version assumes the end of the file has been reached when a null character is reached and there are no CMake expressions to evaluate.
 copy_resource_file(${OpenMW_SOURCE_DIR}/files/opencs/defaultfilters
@@ -1039,7 +1039,7 @@ elseif(NOT APPLE)
         # End of tes3mp addition
 
         IF(BUILD_OPENCS)
-            INSTALL(FILES "${INSTALL_SOURCE}/openmw-cs.cfg" DESTINATION "${SYSCONFDIR}" COMPONENT "opencs")
+            INSTALL(FILES "${INSTALL_SOURCE}/defaults-cs.bin" DESTINATION "${SYSCONFDIR}" COMPONENT "opencs")
         ENDIF(BUILD_OPENCS)
 
         # Install resources
diff --git a/apps/opencs/CMakeLists.txt b/apps/opencs/CMakeLists.txt
index 19c32df60..88c4233c9 100644
--- a/apps/opencs/CMakeLists.txt
+++ b/apps/opencs/CMakeLists.txt
@@ -158,7 +158,7 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 if(APPLE)
     set (OPENCS_MAC_ICON "${CMAKE_SOURCE_DIR}/files/mac/openmw-cs.icns")
-    set (OPENCS_CFG "${OpenMW_BINARY_DIR}/openmw-cs.cfg")
+    set (OPENCS_CFG "${OpenMW_BINARY_DIR}/defaults-cs.bin")
     set (OPENCS_DEFAULT_FILTERS_FILE "${OpenMW_BINARY_DIR}/resources/defaultfilters")
     set (OPENCS_OPENMW_CFG "${OpenMW_BINARY_DIR}/openmw.cfg")
 else()
@@ -270,7 +270,7 @@ if (WIN32)
         SET(INSTALL_SOURCE "${OpenMW_BINARY_DIR}")
     endif ()
 
-    INSTALL(FILES "${INSTALL_SOURCE}/openmw-cs.cfg" DESTINATION ".")
+    INSTALL(FILES "${INSTALL_SOURCE}/defaults-cs.bin" DESTINATION ".")
 endif()
 
 if (MSVC)
diff --git a/apps/opencs/model/prefs/state.cpp b/apps/opencs/model/prefs/state.cpp
index 0958fa8d4..58a0f296e 100644
--- a/apps/opencs/model/prefs/state.cpp
+++ b/apps/opencs/model/prefs/state.cpp
@@ -17,15 +17,15 @@ CSMPrefs::State *CSMPrefs::State::sThis = nullptr;
 void CSMPrefs::State::load()
 {
     // default settings file
-    boost::filesystem::path local = mConfigurationManager.getLocalPath() / mConfigFile;
-    boost::filesystem::path global = mConfigurationManager.getGlobalPath() / mConfigFile;
+    boost::filesystem::path local = mConfigurationManager.getLocalPath() / mDefaultConfigFile;
+    boost::filesystem::path global = mConfigurationManager.getGlobalPath() / mDefaultConfigFile;
 
     if (boost::filesystem::exists (local))
         mSettings.loadDefault (local.string());
     else if (boost::filesystem::exists (global))
         mSettings.loadDefault (global.string());
     else
-        throw std::runtime_error ("No default settings file found! Make sure the file \"openmw-cs.cfg\" was properly installed.");
+        throw std::runtime_error ("No default settings file found! Make sure the file \"" + mDefaultConfigFile + "\" was properly installed.");
 
     // user settings file
     boost::filesystem::path user = mConfigurationManager.getUserConfigPath() / mConfigFile;
@@ -641,7 +641,7 @@ void CSMPrefs::State::setDefault (const std::string& key, const std::string& def
 }
 
 CSMPrefs::State::State (const Files::ConfigurationManager& configurationManager)
-: mConfigFile ("openmw-cs.cfg"), mConfigurationManager (configurationManager),
+: mConfigFile ("openmw-cs.cfg"), mDefaultConfigFile("defaults-cs.bin"), mConfigurationManager (configurationManager),
   mCurrentCategory (mCategories.end())
 {
     if (sThis)
diff --git a/apps/opencs/model/prefs/state.hpp b/apps/opencs/model/prefs/state.hpp
index aa63de595..7c9fcbecd 100644
--- a/apps/opencs/model/prefs/state.hpp
+++ b/apps/opencs/model/prefs/state.hpp
@@ -48,6 +48,7 @@ namespace CSMPrefs
         private:
 
             const std::string mConfigFile;
+            const std::string mDefaultConfigFile;
             const Files::ConfigurationManager& mConfigurationManager;
             ShortcutManager mShortcutManager;
             Settings::Manager mSettings;
diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp
index 523949179..8ad944751 100644
--- a/apps/openmw/mwmechanics/aipackage.cpp
+++ b/apps/openmw/mwmechanics/aipackage.cpp
@@ -55,6 +55,11 @@ MWWorld::Ptr MWMechanics::AiPackage::getTarget() const
 
     if (mTargetActorId == -1)
     {
+        if (mTargetActorRefId.empty())
+        {
+            mTargetActorId = -2;
+            return MWWorld::Ptr();
+        }
         MWWorld::Ptr target = MWBase::Environment::get().getWorld()->searchPtr(mTargetActorRefId, false);
         if (target.isEmpty())
         {
diff --git a/apps/openmw/mwphysics/actor.cpp b/apps/openmw/mwphysics/actor.cpp
index 38719deb4..565b728ed 100644
--- a/apps/openmw/mwphysics/actor.cpp
+++ b/apps/openmw/mwphysics/actor.cpp
@@ -32,8 +32,8 @@ namespace MWPhysics
 {
 
 
-Actor::Actor(const MWWorld::Ptr& ptr, const Resource::BulletShape* shape, PhysicsTaskScheduler* scheduler)
-  : mStandingOnPtr(nullptr), mCanWaterWalk(false), mWalkingOnWater(false)
+Actor::Actor(const MWWorld::Ptr& ptr, const Resource::BulletShape* shape, PhysicsTaskScheduler* scheduler, bool canWaterWalk)
+  : mStandingOnPtr(nullptr), mCanWaterWalk(canWaterWalk), mWalkingOnWater(false)
   , mCollisionObject(nullptr), mMeshTranslation(shape->mCollisionBox.center), mHalfExtents(shape->mCollisionBox.extents)
   , mVelocity(0,0,0), mStuckFrames(0), mLastStuckPosition{0, 0, 0}
   , mForce(0.f, 0.f, 0.f), mOnGround(true), mOnSlope(false)
@@ -159,11 +159,13 @@ void Actor::updatePosition()
     mPositionOffset = osg::Vec3f();
     mStandingOnPtr = nullptr;
     mSkipCollisions = true;
+    mSkipSimulation = true;
 }
 
 void Actor::setSimulationPosition(const osg::Vec3f& position)
 {
-    mSimulationPosition = position;
+    if (!std::exchange(mSkipSimulation, false))
+        mSimulationPosition = position;
 }
 
 osg::Vec3f Actor::getSimulationPosition() const
@@ -180,18 +182,20 @@ void Actor::updateCollisionObjectPosition()
 {
     std::scoped_lock lock(mPositionMutex);
     mShape->setLocalScaling(Misc::Convert::toBullet(mScale));
-    osg::Vec3f scaledTranslation = mRotation * osg::componentMultiply(mMeshTranslation, mScale);
-    osg::Vec3f newPosition = scaledTranslation + mPosition;
-    mLocalTransform.setOrigin(Misc::Convert::toBullet(newPosition));
-    mLocalTransform.setRotation(Misc::Convert::toBullet(mRotation));
-    mCollisionObject->setWorldTransform(mLocalTransform);
+    osg::Vec3f newPosition = getScaledMeshTranslation() + mPosition;
+
+    auto& trans = mCollisionObject->getWorldTransform();
+    trans.setOrigin(Misc::Convert::toBullet(newPosition));
+    trans.setRotation(Misc::Convert::toBullet(mRotation));
+    mCollisionObject->setWorldTransform(trans);
+
     mWorldPositionChanged = false;
 }
 
 osg::Vec3f Actor::getCollisionObjectPosition() const
 {
     std::scoped_lock lock(mPositionMutex);
-    return Misc::Convert::toOsg(mLocalTransform.getOrigin());
+    return getScaledMeshTranslation() + mPosition;
 }
 
 bool Actor::setPosition(const osg::Vec3f& position)
diff --git a/apps/openmw/mwphysics/actor.hpp b/apps/openmw/mwphysics/actor.hpp
index 7b53e8812..99f625394 100644
--- a/apps/openmw/mwphysics/actor.hpp
+++ b/apps/openmw/mwphysics/actor.hpp
@@ -27,7 +27,7 @@ namespace MWPhysics
     class Actor final : public PtrHolder
     {
     public:
-        Actor(const MWWorld::Ptr& ptr, const Resource::BulletShape* shape, PhysicsTaskScheduler* scheduler);
+        Actor(const MWWorld::Ptr& ptr, const Resource::BulletShape* shape, PhysicsTaskScheduler* scheduler, bool canWaterWalk);
         ~Actor() override;
 
         /**
@@ -74,9 +74,6 @@ namespace MWPhysics
          */
         osg::Vec3f getOriginalHalfExtents() const;
 
-        /// Returns the mesh translation, scaled and rotated as necessary
-        osg::Vec3f getScaledMeshTranslation() const;
-
         /**
          * Returns the position of the collision body
          * @note The collision shape's origin is in its center, so the position returned can be described as center of the actor collision box in world space.
@@ -181,6 +178,9 @@ namespace MWPhysics
         void addCollisionMask(int collisionMask);
         int getCollisionMask() const;
 
+        /// Returns the mesh translation, scaled and rotated as necessary
+        osg::Vec3f getScaledMeshTranslation() const;
+
         bool mCanWaterWalk;
         std::atomic<bool> mWalkingOnWater;
 
@@ -204,7 +204,7 @@ namespace MWPhysics
         osg::Vec3f mVelocity;
         bool mWorldPositionChanged;
         bool mSkipCollisions;
-        btTransform mLocalTransform;
+        bool mSkipSimulation;
         mutable std::mutex mPositionMutex;
 
         unsigned int mStuckFrames;
diff --git a/apps/openmw/mwphysics/mtphysics.cpp b/apps/openmw/mwphysics/mtphysics.cpp
index 9b98e7e8f..29d1e0b7c 100644
--- a/apps/openmw/mwphysics/mtphysics.cpp
+++ b/apps/openmw/mwphysics/mtphysics.cpp
@@ -599,7 +599,7 @@ namespace MWPhysics
         if (!mRemainingSteps)
             return;
         for (auto& data : mActorsFrameData)
-            if (data.mActor.lock())
+            if (const auto actor = data.mActor.lock())
             {
                 std::unique_lock lock(mCollisionWorldMutex);
                 MovementSolver::unstuck(data, mCollisionWorld);
diff --git a/apps/openmw/mwphysics/object.cpp b/apps/openmw/mwphysics/object.cpp
index 636306532..1e69136ab 100644
--- a/apps/openmw/mwphysics/object.cpp
+++ b/apps/openmw/mwphysics/object.cpp
@@ -27,8 +27,8 @@ namespace MWPhysics
         mCollisionObject->setUserPointer(this);
 
         setScale(ptr.getCellRef().getScale());
-        setRotation(Misc::Convert::toBullet(ptr.getRefData().getBaseNode()->getAttitude()));
-        setOrigin(Misc::Convert::toBullet(ptr.getRefData().getPosition().asVec3()));
+        setRotation(ptr.getRefData().getBaseNode()->getAttitude());
+        updatePosition();
         commitPositionChange();
 
         mTaskScheduler->addCollisionObject(mCollisionObject.get(), collisionType, CollisionType_Actor|CollisionType_HeightMap|CollisionType_Projectile);
@@ -51,17 +51,17 @@ namespace MWPhysics
         mScaleUpdatePending = true;
     }
 
-    void Object::setRotation(const btQuaternion& quat)
+    void Object::setRotation(const osg::Quat& quat)
     {
         std::unique_lock<std::mutex> lock(mPositionMutex);
-        mLocalTransform.setRotation(quat);
+        mRotation = quat;
         mTransformUpdatePending = true;
     }
 
-    void Object::setOrigin(const btVector3& vec)
+    void Object::updatePosition()
     {
         std::unique_lock<std::mutex> lock(mPositionMutex);
-        mLocalTransform.setOrigin(vec);
+        mPosition = mPtr.getRefData().getPosition().asVec3();
         mTransformUpdatePending = true;
     }
 
@@ -75,7 +75,10 @@ namespace MWPhysics
         }
         if (mTransformUpdatePending)
         {
-            mCollisionObject->setWorldTransform(mLocalTransform);
+            btTransform trans;
+            trans.setOrigin(Misc::Convert::toBullet(mPosition));
+            trans.setRotation(Misc::Convert::toBullet(mRotation));
+            mCollisionObject->setWorldTransform(trans);
             mTransformUpdatePending = false;
         }
     }
@@ -93,7 +96,10 @@ namespace MWPhysics
     btTransform Object::getTransform() const
     {
         std::unique_lock<std::mutex> lock(mPositionMutex);
-        return mLocalTransform;
+        btTransform trans;
+        trans.setOrigin(Misc::Convert::toBullet(mPosition));
+        trans.setRotation(Misc::Convert::toBullet(mRotation));
+        return trans;
     }
 
     bool Object::isSolid() const
diff --git a/apps/openmw/mwphysics/object.hpp b/apps/openmw/mwphysics/object.hpp
index cae877180..c640318c7 100644
--- a/apps/openmw/mwphysics/object.hpp
+++ b/apps/openmw/mwphysics/object.hpp
@@ -16,7 +16,6 @@ namespace Resource
 }
 
 class btCollisionObject;
-class btQuaternion;
 class btVector3;
 
 namespace MWPhysics
@@ -31,8 +30,8 @@ namespace MWPhysics
 
         const Resource::BulletShapeInstance* getShapeInstance() const;
         void setScale(float scale);
-        void setRotation(const btQuaternion& quat);
-        void setOrigin(const btVector3& vec);
+        void setRotation(const osg::Quat& quat);
+        void updatePosition();
         void commitPositionChange();
         btCollisionObject* getCollisionObject();
         const btCollisionObject* getCollisionObject() const;
@@ -51,7 +50,8 @@ namespace MWPhysics
         std::map<int, osg::NodePath> mRecIndexToNodePath;
         bool mSolid;
         btVector3 mScale;
-        btTransform mLocalTransform;
+        osg::Vec3f mPosition;
+        osg::Quat mRotation;
         bool mScaleUpdatePending;
         bool mTransformUpdatePending;
         mutable std::mutex mPositionMutex;
diff --git a/apps/openmw/mwphysics/physicssystem.cpp b/apps/openmw/mwphysics/physicssystem.cpp
index 79a7fafc8..83a6a924a 100644
--- a/apps/openmw/mwphysics/physicssystem.cpp
+++ b/apps/openmw/mwphysics/physicssystem.cpp
@@ -654,7 +654,7 @@ namespace MWPhysics
         ObjectMap::iterator found = mObjects.find(ptr);
         if (found != mObjects.end())
         {
-            found->second->setRotation(Misc::Convert::toBullet(ptr.getRefData().getBaseNode()->getAttitude()));
+            found->second->setRotation(ptr.getRefData().getBaseNode()->getAttitude());
             mTaskScheduler->updateSingleAabb(found->second);
             return;
         }
@@ -675,7 +675,7 @@ namespace MWPhysics
         ObjectMap::iterator found = mObjects.find(ptr);
         if (found != mObjects.end())
         {
-            found->second->setOrigin(Misc::Convert::toBullet(ptr.getRefData().getPosition().asVec3()));
+            found->second->updatePosition();
             mTaskScheduler->updateSingleAabb(found->second);
             return;
         }
@@ -705,7 +705,15 @@ namespace MWPhysics
         if (!shape)
             return;
 
-        auto actor = std::make_shared<Actor>(ptr, shape, mTaskScheduler.get());
+        // check if Actor should spawn above water
+        const MWMechanics::MagicEffects& effects = ptr.getClass().getCreatureStats(ptr).getMagicEffects();
+        const bool canWaterWalk = effects.get(ESM::MagicEffect::WaterWalking).getMagnitude() > 0;
+
+        auto actor = std::make_shared<Actor>(ptr, shape, mTaskScheduler.get(), canWaterWalk);
+        
+        // check if Actor is on the ground or in the air
+        traceDown(ptr, ptr.getRefData().getPosition().asVec3(), 10.f);
+
         mActors.emplace(ptr, std::move(actor));
     }
 
diff --git a/apps/openmw/mwphysics/projectile.cpp b/apps/openmw/mwphysics/projectile.cpp
index 252da0a68..0e233562c 100644
--- a/apps/openmw/mwphysics/projectile.cpp
+++ b/apps/openmw/mwphysics/projectile.cpp
@@ -3,14 +3,11 @@
 #include <BulletCollision/CollisionShapes/btSphereShape.h>
 #include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
 
-#include <LinearMath/btVector3.h>
-
 #include <components/misc/convert.hpp>
 
 #include "../mwworld/class.hpp"
 
 #include "collisiontype.hpp"
-#include "memory"
 #include "mtphysics.hpp"
 #include "projectile.hpp"
 
@@ -55,7 +52,9 @@ void Projectile::commitPositionChange()
     std::scoped_lock lock(mMutex);
     if (mTransformUpdatePending)
     {
-        mCollisionObject->setWorldTransform(mLocalTransform);
+        auto& trans = mCollisionObject->getWorldTransform();
+        trans.setOrigin(Misc::Convert::toBullet(mPosition));
+        mCollisionObject->setWorldTransform(trans);
         mTransformUpdatePending = false;
     }
 }
@@ -63,14 +62,14 @@ void Projectile::commitPositionChange()
 void Projectile::setPosition(const osg::Vec3f &position)
 {
     std::scoped_lock lock(mMutex);
-    mLocalTransform.setOrigin(Misc::Convert::toBullet(position));
+    mPosition = position;
     mTransformUpdatePending = true;
 }
 
 osg::Vec3f Projectile::getPosition() const
 {
     std::scoped_lock lock(mMutex);
-    return Misc::Convert::toOsg(mLocalTransform.getOrigin());
+    return mPosition;
 }
 
 bool Projectile::canTraverseWater() const
diff --git a/apps/openmw/mwphysics/projectile.hpp b/apps/openmw/mwphysics/projectile.hpp
index 81c33d2a5..2ce1a72d5 100644
--- a/apps/openmw/mwphysics/projectile.hpp
+++ b/apps/openmw/mwphysics/projectile.hpp
@@ -6,12 +6,13 @@
 #include <mutex>
 #include <optional>
 
+#include <LinearMath/btVector3.h>
+
 #include "ptrholder.hpp"
 
 class btCollisionObject;
 class btCollisionShape;
 class btConvexShape;
-class btVector3;
 
 namespace osg
 {
@@ -76,7 +77,6 @@ namespace MWPhysics
         btConvexShape* mConvexShape;
 
         std::unique_ptr<btCollisionObject> mCollisionObject;
-        btTransform mLocalTransform;
         bool mTransformUpdatePending;
         bool mCanCrossWaterSurface;
         bool mCrossedWaterSurface;
@@ -84,6 +84,7 @@ namespace MWPhysics
         MWWorld::Ptr mCaster;
         MWWorld::Ptr mHitTarget;
         std::optional<btVector3> mWaterHitPosition;
+        osg::Vec3f mPosition;
         btVector3 mHitPosition;
         btVector3 mHitNormal;
 
diff --git a/apps/openmw/mwrender/objectpaging.cpp b/apps/openmw/mwrender/objectpaging.cpp
index 8e29f0af4..6ab7ac4ce 100644
--- a/apps/openmw/mwrender/objectpaging.cpp
+++ b/apps/openmw/mwrender/objectpaging.cpp
@@ -364,6 +364,7 @@ namespace MWRender
             osg::ref_ptr<osg::StateSet> stateset = node.getStateSet() ? osg::clone(node.getStateSet(), osg::CopyOp::SHALLOW_COPY) : new osg::StateSet;
             stateset->setAttribute(m);
             stateset->addUniform(new osg::Uniform("colorMode", 0));
+            stateset->addUniform(new osg::Uniform("emissiveMult", 1.f));
             node.setStateSet(stateset);
         }
     };
@@ -477,8 +478,7 @@ namespace MWRender
         constexpr auto copyMask = ~Mask_UpdateVisitor;
 
         AnalyzeVisitor analyzeVisitor(copyMask);
-        osg::Vec3f center3 = { center.x(), center.y(), 0.f };
-        analyzeVisitor.mCurrentDistance = (viewPoint - center3).length2();
+        analyzeVisitor.mCurrentDistance = (viewPoint - worldCenter).length2();
         float minSize = mMinSize;
         if (mMinSizeMergeFactor)
             minSize *= mMinSizeMergeFactor;
diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp
index 7c9dedbd1..0a659fdda 100644
--- a/apps/openmw/mwworld/scene.cpp
+++ b/apps/openmw/mwworld/scene.cpp
@@ -478,12 +478,6 @@ namespace MWWorld
 
                 const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr();
 
-                // By default the player is grounded, with the scene fully loaded, we validate and correct this.
-                if (player.mCell == cell) // Only run once, during initial cell load.
-                {
-                    mPhysics->traceDown(player, player.getRefData().getPosition().asVec3(), 10.f);
-                }
-
                 navigator->update(player.getRefData().getPosition().asVec3());
 
                 if (!cell->isExterior() && !(cell->getCell()->mData.mFlags & ESM::Cell::QuasiEx))
diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp
index 857847cac..54798a193 100644
--- a/apps/openmw/mwworld/worldimp.cpp
+++ b/apps/openmw/mwworld/worldimp.cpp
@@ -1427,7 +1427,7 @@ namespace MWWorld
             if (movePhysics)
             {
                 if (const auto object = mPhysics->getObject(ptr))
-                    updateNavigatorObject(object);
+                    updateNavigatorObject(*object);
             }
         }
 
@@ -1486,7 +1486,7 @@ namespace MWWorld
         if (mPhysics->getActor(ptr))
             mNavigator->addAgent(getPathfindingHalfExtents(ptr));
         else if (const auto object = mPhysics->getObject(ptr))
-            mShouldUpdateNavigator = updateNavigatorObject(object) || mShouldUpdateNavigator;
+            updateNavigatorObject(*object);
     }
 
     void World::rotateObjectImp(const Ptr& ptr, const osg::Vec3f& rot, MWBase::RotationFlags flags)
@@ -1535,7 +1535,7 @@ namespace MWWorld
             mWorldScene->updateObjectRotation(ptr, order);
 
             if (const auto object = mPhysics->getObject(ptr))
-                updateNavigatorObject(object);
+                updateNavigatorObject(*object);
         }
     }
 
@@ -1627,7 +1627,7 @@ namespace MWWorld
             mPhysics->updateRotation(ptr);
 
             if (const auto object = mPhysics->getObject(ptr))
-                updateNavigatorObject(object);
+                updateNavigatorObject(*object);
         }
     }
 
@@ -1775,14 +1775,11 @@ namespace MWWorld
 
     void World::updateNavigator()
     {
-        mPhysics->forEachAnimatedObject([&] (const MWPhysics::Object* object)
-        {
-            mShouldUpdateNavigator = updateNavigatorObject(object) || mShouldUpdateNavigator;
-        });
+        mPhysics->forEachAnimatedObject([&] (const MWPhysics::Object* object) { updateNavigatorObject(*object); });
 
         for (const auto& door : mDoorStates)
             if (const auto object = mPhysics->getObject(door.first))
-                mShouldUpdateNavigator = updateNavigatorObject(object) || mShouldUpdateNavigator;
+                updateNavigatorObject(*object);
 
         if (mShouldUpdateNavigator)
         {
@@ -1791,13 +1788,14 @@ namespace MWWorld
         }
     }
 
-    bool World::updateNavigatorObject(const MWPhysics::Object* object)
+    void World::updateNavigatorObject(const MWPhysics::Object& object)
     {
         const DetourNavigator::ObjectShapes shapes {
-            *object->getShapeInstance()->getCollisionShape(),
-            object->getShapeInstance()->getAvoidCollisionShape()
+            *object.getShapeInstance()->getCollisionShape(),
+            object.getShapeInstance()->getAvoidCollisionShape()
         };
-        return mNavigator->updateObject(DetourNavigator::ObjectId(object), shapes, object->getTransform());
+        mShouldUpdateNavigator = mNavigator->updateObject(DetourNavigator::ObjectId(&object), shapes, object.getTransform())
+            || mShouldUpdateNavigator;
     }
 
     const MWPhysics::RayCastingInterface* World::getRayCasting() const
diff --git a/apps/openmw/mwworld/worldimp.hpp b/apps/openmw/mwworld/worldimp.hpp
index 30f2a2645..3827f83eb 100644
--- a/apps/openmw/mwworld/worldimp.hpp
+++ b/apps/openmw/mwworld/worldimp.hpp
@@ -167,7 +167,7 @@ namespace MWWorld
 
             void updateNavigator();
 
-            bool updateNavigatorObject(const MWPhysics::Object* object);
+            void updateNavigatorObject(const MWPhysics::Object& object);
 
             void ensureNeededRecords();
 
diff --git a/components/nifosg/nifloader.cpp b/components/nifosg/nifloader.cpp
index ab25fd744..702ab3366 100644
--- a/components/nifosg/nifloader.cpp
+++ b/components/nifosg/nifloader.cpp
@@ -2011,6 +2011,11 @@ namespace NifOsg
                     {
                         osg::ref_ptr<osg::BlendFunc> blendFunc (new osg::BlendFunc(getBlendMode((alphaprop->flags>>1)&0xf),
                                                                                    getBlendMode((alphaprop->flags>>5)&0xf)));
+                        // on AMD hardware, alpha still seems to be stored with an RGBA framebuffer with OpenGL.
+                        // This might be mandated by the OpenGL 2.1 specification section 2.14.9, or might be a bug.
+                        // Either way, D3D8.1 doesn't do that, so adapt the destination factor.
+                        if (blendFunc->getDestination() == GL_DST_ALPHA)
+                            blendFunc->setDestination(GL_ONE);
                         blendFunc = shareAttribute(blendFunc);
                         stateset->setAttributeAndModes(blendFunc, osg::StateAttribute::ON);
 
diff --git a/components/sceneutil/mwshadowtechnique.cpp b/components/sceneutil/mwshadowtechnique.cpp
index 88d44d2f6..745d93daf 100644
--- a/components/sceneutil/mwshadowtechnique.cpp
+++ b/components/sceneutil/mwshadowtechnique.cpp
@@ -904,6 +904,7 @@ void SceneUtil::MWShadowTechnique::setupCastingShader(Shader::ShaderManager & sh
         program->addShader(castingVertexShader);
         program->addShader(shaderManager.getShader("shadowcasting_fragment.glsl", { {"alphaFunc", std::to_string(alphaFunc)},
                                                                                     {"alphaToCoverage", "0"},
+                                                                                    {"adjustCoverage", "1"},
                                                                                     {"useGPUShader4", useGPUShader4}
                                                                                   }, osg::Shader::FRAGMENT));
     }
diff --git a/components/shader/shadervisitor.cpp b/components/shader/shadervisitor.cpp
index c21593f35..9550c903a 100644
--- a/components/shader/shadervisitor.cpp
+++ b/components/shader/shadervisitor.cpp
@@ -22,6 +22,68 @@
 
 namespace Shader
 {
+    class AddedState : public osg::Object
+    {
+    public:
+        AddedState() = default;
+        AddedState(const AddedState& rhs, const osg::CopyOp& copyOp)
+            : osg::Object(rhs, copyOp)
+            , mUniforms(rhs.mUniforms)
+            , mModes(rhs.mModes)
+            , mAttributes(rhs.mAttributes)
+        {
+        }
+
+        void addUniform(const std::string& name) { mUniforms.emplace(name); }
+        void setMode(osg::StateAttribute::GLMode mode) { mModes.emplace(mode); }
+        void setAttribute(osg::StateAttribute::TypeMemberPair typeMemberPair) { mAttributes.emplace(typeMemberPair); }
+
+        void setAttribute(const osg::StateAttribute* attribute)
+        {
+            mAttributes.emplace(attribute->getTypeMemberPair());
+        }
+        template<typename T>
+        void setAttribute(osg::ref_ptr<T> attribute) { setAttribute(attribute.get()); }
+
+        void setAttributeAndModes(const osg::StateAttribute* attribute)
+        {
+            setAttribute(attribute);
+            InterrogateModesHelper helper(this);
+            attribute->getModeUsage(helper);
+        }
+        template<typename T>
+        void setAttributeAndModes(osg::ref_ptr<T> attribute) { setAttributeAndModes(attribute.get()); }
+
+        bool hasUniform(const std::string& name) { return mUniforms.count(name); }
+        bool hasMode(osg::StateAttribute::GLMode mode) { return mModes.count(mode); }
+        bool hasAttribute(osg::StateAttribute::TypeMemberPair typeMemberPair) { return mAttributes.count(typeMemberPair); }
+        bool hasAttribute(osg::StateAttribute::Type type, unsigned int member) { return hasAttribute(osg::StateAttribute::TypeMemberPair(type, member)); }
+
+        const std::set<osg::StateAttribute::TypeMemberPair>& getAttributes() { return mAttributes; }
+
+        bool empty()
+        {
+            return mUniforms.empty() && mModes.empty() && mAttributes.empty();
+        }
+
+        META_Object(Shader, AddedState)
+
+    private:
+        class InterrogateModesHelper : public osg::StateAttribute::ModeUsage
+        {
+        public:
+            InterrogateModesHelper(AddedState* tracker) : mTracker(tracker) {}
+            void usesMode(osg::StateAttribute::GLMode mode) override { mTracker->setMode(mode); }
+            void usesTextureMode(osg::StateAttribute::GLMode mode) override {}
+
+        private:
+            AddedState* mTracker;
+        };
+
+        std::unordered_set<std::string> mUniforms;
+        std::unordered_set<osg::StateAttribute::GLMode> mModes;
+        std::set<osg::StateAttribute::TypeMemberPair> mAttributes;
+    };
 
     ShaderVisitor::ShaderRequirements::ShaderRequirements()
         : mShaderRequired(false)
@@ -105,14 +167,32 @@ namespace Shader
         return static_cast<osg::StateSet *>(stateSet.getUserDataContainer()->getUserObject("removedState"));
     }
 
-    void updateRemovedState(osg::UserDataContainer& userData, osg::StateSet* stateSet)
+    void updateRemovedState(osg::UserDataContainer& userData, osg::StateSet* removedState)
     {
         unsigned int index = userData.getUserObjectIndex("removedState");
         if (index < userData.getNumUserObjects())
-            userData.setUserObject(index, stateSet);
+            userData.setUserObject(index, removedState);
         else
-            userData.addUserObject(stateSet);
-        stateSet->setName("removedState");
+            userData.addUserObject(removedState);
+        removedState->setName("removedState");
+    }
+
+    AddedState* getAddedState(osg::StateSet& stateSet)
+    {
+        if (!stateSet.getUserDataContainer())
+            return nullptr;
+
+        return static_cast<AddedState*>(stateSet.getUserDataContainer()->getUserObject("addedState"));
+    }
+
+    void updateAddedState(osg::UserDataContainer& userData, AddedState* addedState)
+    {
+        unsigned int index = userData.getUserObjectIndex("addedState");
+        if (index < userData.getNumUserObjects())
+            userData.setUserObject(index, addedState);
+        else
+            userData.addUserObject(addedState);
+        addedState->setName("addedState");
     }
 
     const char* defaultTextures[] = { "diffuseMap", "normalMap", "emissiveMap", "darkMap", "detailMap", "envMap", "specularMap", "decalMap", "bumpMap" };
@@ -280,11 +360,13 @@ namespace Shader
         osg::StateSet::AttributeList removedAttributes;
         if (osg::ref_ptr<osg::StateSet> removedState = getRemovedState(*stateset))
             removedAttributes = removedState->getAttributeList();
+        osg::ref_ptr<AddedState> addedState = getAddedState(*stateset);
+
         for (const auto* attributeMap : std::initializer_list<const osg::StateSet::AttributeList*>{ &attributes, &removedAttributes })
         {
             for (osg::StateSet::AttributeList::const_iterator it = attributeMap->begin(); it != attributeMap->end(); ++it)
             {
-                if (attributeMap != &removedAttributes && removedAttributes.count(it->first))
+                if (addedState && attributeMap != &removedAttributes && addedState->hasAttribute(it->first))
                     continue;
                 if (it->first.first == osg::StateAttribute::MATERIAL)
                 {
@@ -296,9 +378,6 @@ namespace Shader
 
                         const osg::Material* mat = static_cast<const osg::Material*>(it->second.first.get());
 
-                        if (!writableStateSet)
-                            writableStateSet = getWritableStateSet(node);
-
                         int colorMode;
                         switch (mat->getColorMode())
                         {
@@ -376,6 +455,10 @@ namespace Shader
             writableStateSet = node.getOrCreateStateSet();
         else
             writableStateSet = getWritableStateSet(node);
+        osg::ref_ptr<AddedState> addedState = new AddedState;
+        osg::ref_ptr<AddedState> previousAddedState = getAddedState(*writableStateSet);
+        if (!previousAddedState)
+            previousAddedState = new AddedState;
 
         ShaderManager::DefineMap defineMap;
         for (unsigned int i=0; i<sizeof(defaultTextures)/sizeof(defaultTextures[0]); ++i)
@@ -392,6 +475,7 @@ namespace Shader
         defineMap["parallax"] = reqs.mNormalHeight ? "1" : "0";
 
         writableStateSet->addUniform(new osg::Uniform("colorMode", reqs.mColorMode));
+        addedState->addUniform("colorMode");
 
         defineMap["alphaFunc"] = std::to_string(reqs.mAlphaFunc);
 
@@ -403,26 +487,35 @@ namespace Shader
             removedState = new osg::StateSet();
 
         defineMap["alphaToCoverage"] = "0";
+        defineMap["adjustCoverage"] = "0";
         if (reqs.mAlphaFunc != osg::AlphaFunc::ALWAYS)
         {
             writableStateSet->addUniform(new osg::Uniform("alphaRef", reqs.mAlphaRef));
+            addedState->addUniform("alphaRef");
 
             if (!removedState->getAttributePair(osg::StateAttribute::ALPHAFUNC))
             {
                 const auto* alphaFunc = writableStateSet->getAttributePair(osg::StateAttribute::ALPHAFUNC);
-                if (alphaFunc)
+                if (alphaFunc && !previousAddedState->hasAttribute(osg::StateAttribute::ALPHAFUNC, 0))
                     removedState->setAttribute(alphaFunc->first, alphaFunc->second);
             }
             // This prevents redundant glAlphaFunc calls while letting the shadows bin still see the test
             writableStateSet->setAttribute(RemovedAlphaFunc::getInstance(reqs.mAlphaFunc), osg::StateAttribute::ON | osg::StateAttribute::OVERRIDE);
+            addedState->setAttribute(RemovedAlphaFunc::getInstance(reqs.mAlphaFunc));
 
             // Blending won't work with A2C as we use the alpha channel for coverage. gl_SampleCoverage from ARB_sample_shading would save the day, but requires GLSL 130
             if (mConvertAlphaTestToAlphaToCoverage && !reqs.mAlphaBlend)
             {
                 writableStateSet->setMode(GL_SAMPLE_ALPHA_TO_COVERAGE_ARB, osg::StateAttribute::ON);
+                addedState->setMode(GL_SAMPLE_ALPHA_TO_COVERAGE_ARB);
                 defineMap["alphaToCoverage"] = "1";
             }
 
+            // Adjusting coverage isn't safe with blending on as blending requires the alpha to be intact.
+            // Maybe we could also somehow (e.g. userdata) detect when the diffuse map has coverage-preserving mip maps in the future
+            if (!reqs.mAlphaBlend)
+                defineMap["adjustCoverage"] = "1";
+
             // Preventing alpha tested stuff shrinking as lower mip levels are used requires knowing the texture size
             osg::ref_ptr<osg::GLExtensions> exts = osg::GLExtensions::Get(0, false);
             if (exts && exts->isGpuShader4Supported)
@@ -430,10 +523,11 @@ namespace Shader
             // We could fall back to a texture size uniform if EXT_gpu_shader4 is missing
         }
 
-        if (writableStateSet->getMode(GL_ALPHA_TEST) != osg::StateAttribute::INHERIT)
+        if (writableStateSet->getMode(GL_ALPHA_TEST) != osg::StateAttribute::INHERIT && !previousAddedState->hasMode(GL_ALPHA_TEST))
             removedState->setMode(GL_ALPHA_TEST, writableStateSet->getMode(GL_ALPHA_TEST));
         // This disables the deprecated fixed-function alpha test
         writableStateSet->setMode(GL_ALPHA_TEST, osg::StateAttribute::OFF | osg::StateAttribute::PROTECTED);
+        addedState->setMode(GL_ALPHA_TEST);
 
         if (!removedState->getModeList().empty() || !removedState->getAttributeList().empty())
         {
@@ -447,6 +541,18 @@ namespace Shader
             updateRemovedState(*writableUserData, removedState);
         }
 
+        if (!addedState->empty())
+        {
+            // user data is normally shallow copied so shared with the original stateset
+            osg::ref_ptr<osg::UserDataContainer> writableUserData;
+            if (mAllowedToModifyStateSets)
+                writableUserData = writableStateSet->getOrCreateUserDataContainer();
+            else
+                writableUserData = getWritableUserDataContainer(*writableStateSet);
+
+            updateAddedState(*writableUserData, addedState);
+        }
+
         defineMap["translucentFramebuffer"] = mTranslucentFramebuffer ? "1" : "0";
 
         std::string shaderPrefix;
@@ -458,11 +564,14 @@ namespace Shader
 
         if (vertexShader && fragmentShader)
         {
-            writableStateSet->setAttributeAndModes(mShaderManager.getProgram(vertexShader, fragmentShader), osg::StateAttribute::ON);
+            auto program = mShaderManager.getProgram(vertexShader, fragmentShader);
+            writableStateSet->setAttributeAndModes(program, osg::StateAttribute::ON);
+            addedState->setAttributeAndModes(program);
 
             for (std::map<int, std::string>::const_iterator texIt = reqs.mTextures.begin(); texIt != reqs.mTextures.end(); ++texIt)
             {
                 writableStateSet->addUniform(new osg::Uniform(texIt->second.c_str(), texIt->first), osg::StateAttribute::ON);
+                addedState->addUniform(texIt->second);
             }
         }
     }
@@ -477,24 +586,57 @@ namespace Shader
         else
             writableStateSet = getWritableStateSet(node);
 
-        writableStateSet->removeAttribute(osg::StateAttribute::PROGRAM);
+        // user data is normally shallow copied so shared with the original stateset - we'll need to copy before edits
+        osg::ref_ptr<osg::UserDataContainer> writableUserData;
+
+        if (osg::ref_ptr<AddedState> addedState = getAddedState(*writableStateSet))
+        {
+            if (mAllowedToModifyStateSets)
+                writableUserData = writableStateSet->getUserDataContainer();
+            else
+                writableUserData = getWritableUserDataContainer(*writableStateSet);
+
+            unsigned int index = writableUserData->getUserObjectIndex("addedState");
+            writableUserData->removeUserObject(index);
+
+            // O(n log n) to use StateSet::removeX, but this is O(n)
+            for (auto itr = writableStateSet->getUniformList().begin(); itr != writableStateSet->getUniformList().end();)
+            {
+                if (addedState->hasUniform(itr->first))
+                    writableStateSet->getUniformList().erase(itr++);
+                else
+                    ++itr;
+            }
+
+            for (auto itr = writableStateSet->getModeList().begin(); itr != writableStateSet->getModeList().end();)
+            {
+                if (addedState->hasMode(itr->first))
+                    writableStateSet->getModeList().erase(itr++);
+                else
+                    ++itr;
+            }
+
+            // StateAttributes track the StateSets they're attached to
+            // We don't have access to the function to do that, and can't call removeAttribute with an iterator
+            for (const auto& [type, member] : addedState->getAttributes())
+                writableStateSet->removeAttribute(type, member);
+        }
+
 
         if (osg::ref_ptr<osg::StateSet> removedState = getRemovedState(*writableStateSet))
         {
-            // user data is normally shallow copied so shared with the original stateset
-            osg::ref_ptr<osg::UserDataContainer> writableUserData;
+            if (!writableUserData)
+            {
             if (mAllowedToModifyStateSets)
                 writableUserData = writableStateSet->getUserDataContainer();
             else
                 writableUserData = getWritableUserDataContainer(*writableStateSet);
+            }
+            
             unsigned int index = writableUserData->getUserObjectIndex("removedState");
             writableUserData->removeUserObject(index);
 
-            for (const auto& [mode, value] : removedState->getModeList())
-                writableStateSet->setMode(mode, value);
-
-            for (const auto& attribute : removedState->getAttributeList())
-                writableStateSet->setAttribute(attribute.second.first, attribute.second.second);
+            writableStateSet->merge(*removedState);
         }
     }
 
diff --git a/extern/Base64/Base64.h b/extern/Base64/Base64.h
index 4e9f51747..49b2d29e3 100644
--- a/extern/Base64/Base64.h
+++ b/extern/Base64/Base64.h
@@ -95,6 +95,12 @@ class Base64 {
     size_t in_len = input.size();
     if (in_len % 4 != 0) return "Input data size is not a multiple of 4";
 
+    if (in_len == 0)
+    {
+        out = "";
+        return "";
+    }
+
     size_t out_len = in_len / 4 * 3;
     if (input[in_len - 1] == '=') out_len--;
     if (input[in_len - 2] == '=') out_len--;
diff --git a/files/shaders/alpha.glsl b/files/shaders/alpha.glsl
index 05be801e9..46b748236 100644
--- a/files/shaders/alpha.glsl
+++ b/files/shaders/alpha.glsl
@@ -22,7 +22,7 @@ float mipmapLevel(vec2 scaleduv)
 
 float coveragePreservingAlphaScale(sampler2D diffuseMap, vec2 uv)
 {
-    #if @alphaFunc != FUNC_ALWAYS && @alphaFunc != FUNC_NEVER
+    #if @adjustCoverage
         vec2 textureSize;
         #if @useGPUShader4
             textureSize = textureSize2D(diffuseMap, 0);