Merge pull request #2170 from elsid/disable_navigator_option

Add option to disable DetourNavigator component (feature #4833)

apps/openmw/mwbase/world.hpp

@@ -57,7 +57,7 @@ namespace MWMechanics
 
 namespace DetourNavigator
 {
-    class Navigator;
+    struct Navigator;
 }
 
 namespace MWWorld

apps/openmw/mwrender/renderingmanager.hpp

@@ -59,7 +59,7 @@ namespace SceneUtil
 
 namespace DetourNavigator
 {
-    class Navigator;
+    struct Navigator;
     struct Settings;
 }
 

apps/openmw/mwworld/scene.hpp

@@ -30,7 +30,7 @@ namespace Loading
 
 namespace DetourNavigator
 {
-    class Navigator;
+    struct Navigator;
     class Water;
 }
 

apps/openmw/mwworld/worldimp.cpp

@@ -24,7 +24,8 @@
 #include <components/sceneutil/positionattitudetransform.hpp>
 
 #include <components/detournavigator/debug.hpp>
-#include <components/detournavigator/navigator.hpp>
+#include <components/detournavigator/navigatorimpl.hpp>
+#include <components/detournavigator/navigatorstub.hpp>
 #include <components/detournavigator/recastglobalallocator.hpp>
 
 #include "../mwbase/environment.hpp"
@@ -198,40 +199,21 @@ namespace MWWorld
 
         mPhysics.reset(new MWPhysics::PhysicsSystem(resourceSystem, rootNode));
 
-        DetourNavigator::Settings navigatorSettings;
-        navigatorSettings.mBorderSize = Settings::Manager::getInt("border size", "Navigator");
-        navigatorSettings.mCellHeight = Settings::Manager::getFloat("cell height", "Navigator");
-        navigatorSettings.mCellSize = Settings::Manager::getFloat("cell size", "Navigator");
-        navigatorSettings.mDetailSampleDist = Settings::Manager::getFloat("detail sample dist", "Navigator");
-        navigatorSettings.mDetailSampleMaxError = Settings::Manager::getFloat("detail sample max error", "Navigator");
-        navigatorSettings.mMaxClimb = MWPhysics::sStepSizeUp;
-        navigatorSettings.mMaxSimplificationError = Settings::Manager::getFloat("max simplification error", "Navigator");
-        navigatorSettings.mMaxSlope = MWPhysics::sMaxSlope;
-        navigatorSettings.mRecastScaleFactor = Settings::Manager::getFloat("recast scale factor", "Navigator");
-        navigatorSettings.mSwimHeightScale = mSwimHeightScale;
-        navigatorSettings.mMaxEdgeLen = Settings::Manager::getInt("max edge len", "Navigator");
-        navigatorSettings.mMaxNavMeshQueryNodes = Settings::Manager::getInt("max nav mesh query nodes", "Navigator");
-        navigatorSettings.mMaxPolys = Settings::Manager::getInt("max polygons per tile", "Navigator");
-        navigatorSettings.mMaxVertsPerPoly = Settings::Manager::getInt("max verts per poly", "Navigator");
-        navigatorSettings.mRegionMergeSize = Settings::Manager::getInt("region merge size", "Navigator");
-        navigatorSettings.mRegionMinSize = Settings::Manager::getInt("region min size", "Navigator");
-        navigatorSettings.mTileSize = Settings::Manager::getInt("tile size", "Navigator");
-        navigatorSettings.mAsyncNavMeshUpdaterThreads = static_cast<std::size_t>(Settings::Manager::getInt("async nav mesh updater threads", "Navigator"));
-        navigatorSettings.mMaxNavMeshTilesCacheSize = static_cast<std::size_t>(Settings::Manager::getInt("max nav mesh tiles cache size", "Navigator"));
-        navigatorSettings.mMaxPolygonPathSize = static_cast<std::size_t>(Settings::Manager::getInt("max polygon path size", "Navigator"));
-        navigatorSettings.mMaxSmoothPathSize = static_cast<std::size_t>(Settings::Manager::getInt("max smooth path size", "Navigator"));
-        navigatorSettings.mTrianglesPerChunk = static_cast<std::size_t>(Settings::Manager::getInt("triangles per chunk", "Navigator"));
-        navigatorSettings.mEnableWriteRecastMeshToFile = Settings::Manager::getBool("enable write recast mesh to file", "Navigator");
-        navigatorSettings.mEnableWriteNavMeshToFile = Settings::Manager::getBool("enable write nav mesh to file", "Navigator");
-        navigatorSettings.mRecastMeshPathPrefix = Settings::Manager::getString("recast mesh path prefix", "Navigator");
-        navigatorSettings.mNavMeshPathPrefix = Settings::Manager::getString("nav mesh path prefix", "Navigator");
-        navigatorSettings.mEnableRecastMeshFileNameRevision = Settings::Manager::getBool("enable recast mesh file name revision", "Navigator");
-        navigatorSettings.mEnableNavMeshFileNameRevision = Settings::Manager::getBool("enable nav mesh file name revision", "Navigator");
-        if (Settings::Manager::getBool("enable log", "Navigator"))
-            DetourNavigator::Log::instance().setSink(std::unique_ptr<DetourNavigator::FileSink>(
-                new DetourNavigator::FileSink(Settings::Manager::getString("log path", "Navigator"))));
-        DetourNavigator::RecastGlobalAllocator::init();
-        mNavigator.reset(new DetourNavigator::Navigator(navigatorSettings));
+        if (auto navigatorSettings = DetourNavigator::makeSettingsFromSettingsManager())
+        {
+            navigatorSettings->mMaxClimb = MWPhysics::sStepSizeUp;
+            navigatorSettings->mMaxSlope = MWPhysics::sMaxSlope;
+            navigatorSettings->mSwimHeightScale = mSwimHeightScale;
+            if (Settings::Manager::getBool("enable log", "Navigator"))
+                DetourNavigator::Log::instance().setSink(std::unique_ptr<DetourNavigator::FileSink>(
+                    new DetourNavigator::FileSink(Settings::Manager::getString("log path", "Navigator"))));
+            DetourNavigator::RecastGlobalAllocator::init();
+            mNavigator.reset(new DetourNavigator::NavigatorImpl(*navigatorSettings));
+        }
+        else
+        {
+            mNavigator.reset(new DetourNavigator::NavigatorStub());
+        }
 
         mRendering.reset(new MWRender::RenderingManager(viewer, rootNode, resourceSystem, workQueue, &mFallback, resourcePath, *mNavigator));
         mProjectileManager.reset(new ProjectileManager(mRendering->getLightRoot(), resourceSystem, mRendering.get(), mPhysics.get()));

apps/openmw_test_suite/detournavigator/navigator.cpp

@@ -1,6 +1,6 @@
 #include "operators.hpp"
 
-#include <components/detournavigator/navigator.hpp>
+#include <components/detournavigator/navigatorimpl.hpp>
 #include <components/detournavigator/exceptions.hpp>
 
 #include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
@@ -61,13 +61,14 @@ namespace
             mSettings.mMaxSmoothPathSize = 1024;
             mSettings.mTrianglesPerChunk = 256;
             mSettings.mMaxPolys = 4096;
-            mNavigator.reset(new Navigator(mSettings));
+            mNavigator.reset(new NavigatorImpl(mSettings));
         }
     };
 
-    TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_throw_exception)
+    TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
     {
-        EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), InvalidArgument);
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut);
+        EXPECT_EQ(mPath, std::deque<osg::Vec3f>());
     }
 
     TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception)
@@ -76,11 +77,12 @@ namespace
         EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), NavigatorException);
     }
 
-    TEST_F(DetourNavigatorNavigatorTest, find_path_for_removed_agent_should_throw_exception)
+    TEST_F(DetourNavigatorNavigatorTest, find_path_for_removed_agent_should_return_empty)
     {
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->removeAgent(mAgentHalfExtents);
-        EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), InvalidArgument);
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut);
+        EXPECT_EQ(mPath, std::deque<osg::Vec3f>());
     }
 
     TEST_F(DetourNavigatorNavigatorTest, add_agent_should_count_each_agent)

components/CMakeLists.txt

@@ -164,13 +164,14 @@ add_component_dir(detournavigator
     recastmeshmanager
     cachedrecastmeshmanager
     navmeshmanager
-    navigator
+    navigatorimpl
     asyncnavmeshupdater
     chunkytrimesh
     recastmesh
     tilecachedrecastmeshmanager
     recastmeshobject
     navmeshtilescache
+    settings
     )
 
 set (ESM_UI ${CMAKE_SOURCE_DIR}/files/ui/contentselector.ui

components/detournavigator/findsmoothpath.hpp

@@ -81,21 +81,28 @@ namespace DetourNavigator
             return *this;
         }
 
-        OutputTransformIterator& operator ++(int)
+        OutputTransformIterator& operator ++()
         {
-            mImpl++;
+            ++mImpl.get();
             return *this;
         }
 
+        OutputTransformIterator operator ++(int)
+        {
+            const auto copy = *this;
+            ++(*this);
+            return copy;
+        }
+
         OutputTransformIterator& operator =(const osg::Vec3f& value)
         {
-            *mImpl = fromNavMeshCoordinates(mSettings, value);
+            *mImpl.get() = fromNavMeshCoordinates(mSettings, value);
             return *this;
         }
 
     private:
-        OutputIterator& mImpl;
-        const Settings& mSettings;
+        std::reference_wrapper<OutputIterator> mImpl;
+        std::reference_wrapper<const Settings> mSettings;
     };
 
     inline void initNavMeshQuery(dtNavMeshQuery& value, const dtNavMesh& navMesh, const int maxNodes)

components/detournavigator/navigator.hpp

@@ -3,9 +3,9 @@
 
 #include "findsmoothpath.hpp"
 #include "flags.hpp"
-#include "navmeshmanager.hpp"
 #include "settings.hpp"
-#include "settingsutils.hpp"
+#include "objectid.hpp"
+#include "navmeshcacheitem.hpp"
 
 namespace DetourNavigator
 {
@@ -33,33 +33,28 @@ namespace DetourNavigator
     };
 
     /**
-     * @brief Top level class of detournavigator componenet. Navigator allows to build a scene with navmesh and find
+     * @brief Top level interface of detournavigator component. Navigator allows to build a scene with navmesh and find
      * a path for an agent there. Scene contains agents, geometry objects and water. Agent are distinguished only by
      * half extents. Each object has unique identifier and could be added, updated or removed. Water could be added once
      * for each world cell at given level of height. Navmesh builds asynchronously in separate threads. To start build
      * navmesh call update method.
      */
-    class Navigator
+    struct Navigator
     {
-    public:
-        /**
-         * @brief Navigator constructor initializes all internal data. Constructed object is ready to build a scene.
-         * @param settings allows to customize navigator work. Constructor is only place to set navigator settings.
-         */
-        Navigator(const Settings& settings);
+        virtual ~Navigator() = default;
 
         /**
          * @brief addAgent should be called for each agent even if all of them has same half extents.
          * @param agentHalfExtents allows to setup bounding cylinder for each agent, for each different half extents
          * there is different navmesh.
          */
-        void addAgent(const osg::Vec3f& agentHalfExtents);
+        virtual void addAgent(const osg::Vec3f& agentHalfExtents) = 0;
 
         /**
          * @brief removeAgent should be called for each agent even if all of them has same half extents
          * @param agentHalfExtents allows determine which agent to remove
          */
-        void removeAgent(const osg::Vec3f& agentHalfExtents);
+        virtual void removeAgent(const osg::Vec3f& agentHalfExtents) = 0;
 
         /**
          * @brief addObject is used to add object represented by single btCollisionShape and btTransform.
@@ -68,7 +63,7 @@ namespace DetourNavigator
          * @param transform allows to setup object geometry according to its world state.
          * @return true if object is added, false if there is already object with given id.
          */
-        bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform);
+        virtual bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) = 0;
 
         /**
          * @brief addObject is used to add complex object with allowed to walk and avoided to walk shapes
@@ -77,7 +72,7 @@ namespace DetourNavigator
          * @param transform allows to setup objects geometry according to its world state
          * @return true if object is added, false if there is already object with given id
          */
-        bool addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform);
+        virtual bool addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) = 0;
 
         /**
          * @brief addObject is used to add doors.
@@ -86,7 +81,7 @@ namespace DetourNavigator
          * @param transform allows to setup objects geometry according to its world state.
          * @return true if object is added, false if there is already object with given id.
          */
-        bool addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform);
+        virtual bool addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) = 0;
 
         /**
          * @brief updateObject replace object geometry by given data.
@@ -95,7 +90,7 @@ namespace DetourNavigator
          * @param transform allows to setup objects geometry according to its world state.
          * @return true if object is updated, false if there is no object with given id.
          */
-        bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform);
+        virtual bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) = 0;
 
         /**
          * @brief updateObject replace object geometry by given data.
@@ -104,7 +99,7 @@ namespace DetourNavigator
          * @param transform allows to setup objects geometry according to its world state.
          * @return true if object is updated, false if there is no object with given id.
          */
-        bool updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform);
+        virtual bool updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) = 0;
 
         /**
          * @brief updateObject replace object geometry by given data.
@@ -113,14 +108,14 @@ namespace DetourNavigator
          * @param transform allows to setup objects geometry according to its world state.
          * @return true if object is updated, false if there is no object with given id.
          */
-        bool updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform);
+        virtual bool updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) = 0;
 
         /**
          * @brief removeObject to make it no more available at the scene.
          * @param id is used to find object.
          * @return true if object is removed, false if there is no object with given id.
          */
-        bool removeObject(const ObjectId id);
+        virtual bool removeObject(const ObjectId id) = 0;
 
         /**
          * @brief addWater is used to set water level at given world cell.
@@ -132,26 +127,26 @@ namespace DetourNavigator
          * at least single object is added to the scene, false if there is already water for given cell or there is no
          * any other objects.
          */
-        bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
-            const btTransform& transform);
+        virtual bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
+            const btTransform& transform) = 0;
 
         /**
          * @brief removeWater to make it no more available at the scene.
          * @param cellPosition allows to find cell.
          * @return true if there was water at given cell.
          */
-        bool removeWater(const osg::Vec2i& cellPosition);
+        virtual bool removeWater(const osg::Vec2i& cellPosition) = 0;
 
         /**
          * @brief update start background navmesh update using current scene state.
          * @param playerPosition setup initial point to order build tiles of navmesh.
          */
-        void update(const osg::Vec3f& playerPosition);
+        virtual void update(const osg::Vec3f& playerPosition) = 0;
 
         /**
          * @brief wait locks thread until all tiles are updated from last update call.
          */
-        void wait();
+        virtual void wait() = 0;
 
         /**
          * @brief findPath fills output iterator with points of scene surfaces to be used for actor to walk through.
@@ -175,30 +170,28 @@ namespace DetourNavigator
                 >::value,
                 "out is not an OutputIterator"
             );
-            const auto navMesh = mNavMeshManager.getNavMesh(agentHalfExtents);
-            return findSmoothPath(navMesh.lock()->getValue(), toNavMeshCoordinates(mSettings, agentHalfExtents),
-                toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), includeFlags,
-                mSettings, out);
+            const auto navMesh = getNavMesh(agentHalfExtents);
+            if (!navMesh)
+                return out;
+            const auto settings = getSettings();
+            return findSmoothPath(navMesh.lock()->getValue(), toNavMeshCoordinates(settings, agentHalfExtents),
+                toNavMeshCoordinates(settings, start), toNavMeshCoordinates(settings, end), includeFlags,
+                settings, out);
         }
 
+        /**
+         * @brief getNavMesh returns navmesh for specific agent half extents
+         * @return navmesh
+         */
+        virtual SharedNavMeshCacheItem getNavMesh(const osg::Vec3f& agentHalfExtents) const = 0;
+
         /**
          * @brief getNavMeshes returns all current navmeshes
          * @return map of agent half extents to navmesh
          */
-        std::map<osg::Vec3f, SharedNavMeshCacheItem> getNavMeshes() const;
-
-        const Settings& getSettings() const;
-
-    private:
-        Settings mSettings;
-        NavMeshManager mNavMeshManager;
-        std::map<osg::Vec3f, std::size_t> mAgents;
-        std::unordered_map<ObjectId, ObjectId> mAvoidIds;
-        std::unordered_map<ObjectId, ObjectId> mWaterIds;
+        virtual std::map<osg::Vec3f, SharedNavMeshCacheItem> getNavMeshes() const = 0;
 
-        void updateAvoidShapeId(const ObjectId id, const ObjectId avoidId);
-        void updateWaterShapeId(const ObjectId id, const ObjectId waterId);
-        void updateId(const ObjectId id, const ObjectId waterId, std::unordered_map<ObjectId, ObjectId>& ids);
+        virtual Settings getSettings() const = 0;
     };
 }
 

components/detournavigator/navigatorimpl.cpp

@@ -1,4 +1,4 @@
-#include "navigator.hpp"
+#include "navigatorimpl.hpp"
 #include "debug.hpp"
 #include "settingsutils.hpp"
 
@@ -6,19 +6,19 @@
 
 namespace DetourNavigator
 {
-    Navigator::Navigator(const Settings& settings)
+    NavigatorImpl::NavigatorImpl(const Settings& settings)
         : mSettings(settings)
         , mNavMeshManager(mSettings)
     {
     }
 
-    void Navigator::addAgent(const osg::Vec3f& agentHalfExtents)
+    void NavigatorImpl::addAgent(const osg::Vec3f& agentHalfExtents)
     {
         ++mAgents[agentHalfExtents];
         mNavMeshManager.addAgent(agentHalfExtents);
     }
 
-    void Navigator::removeAgent(const osg::Vec3f& agentHalfExtents)
+    void NavigatorImpl::removeAgent(const osg::Vec3f& agentHalfExtents)
     {
         const auto it = mAgents.find(agentHalfExtents);
         if (it == mAgents.end() || --it->second)
@@ -27,12 +27,12 @@ namespace DetourNavigator
         mNavMeshManager.reset(agentHalfExtents);
     }
 
-    bool Navigator::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform)
+    bool NavigatorImpl::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform)
     {
         return mNavMeshManager.addObject(id, shape, transform, AreaType_ground);
     }
 
-    bool Navigator::addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
+    bool NavigatorImpl::addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
     {
         bool result = addObject(id, shapes.mShape, transform);
         if (shapes.mAvoid)
@@ -47,7 +47,7 @@ namespace DetourNavigator
         return result;
     }
 
-    bool Navigator::addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform)
+    bool NavigatorImpl::addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform)
     {
         if (addObject(id, static_cast<const ObjectShapes&>(shapes), transform))
         {
@@ -61,12 +61,12 @@ namespace DetourNavigator
         return false;
     }
 
-    bool Navigator::updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform)
+    bool NavigatorImpl::updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform)
     {
         return mNavMeshManager.updateObject(id, shape, transform, AreaType_ground);
     }
 
-    bool Navigator::updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
+    bool NavigatorImpl::updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
     {
         bool result = updateObject(id, shapes.mShape, transform);
         if (shapes.mAvoid)
@@ -81,12 +81,12 @@ namespace DetourNavigator
         return result;
     }
 
-    bool Navigator::updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform)
+    bool NavigatorImpl::updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform)
     {
         return updateObject(id, static_cast<const ObjectShapes&>(shapes), transform);
     }
 
-    bool Navigator::removeObject(const ObjectId id)
+    bool NavigatorImpl::removeObject(const ObjectId id)
     {
         bool result = mNavMeshManager.removeObject(id);
         const auto avoid = mAvoidIds.find(id);
@@ -99,50 +99,55 @@ namespace DetourNavigator
         return result;
     }
 
-    bool Navigator::addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
+    bool NavigatorImpl::addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
         const btTransform& transform)
     {
         return mNavMeshManager.addWater(cellPosition, cellSize,
             btTransform(transform.getBasis(), btVector3(transform.getOrigin().x(), transform.getOrigin().y(), level)));
     }
 
-    bool Navigator::removeWater(const osg::Vec2i& cellPosition)
+    bool NavigatorImpl::removeWater(const osg::Vec2i& cellPosition)
     {
         return mNavMeshManager.removeWater(cellPosition);
     }
 
-    void Navigator::update(const osg::Vec3f& playerPosition)
+    void NavigatorImpl::update(const osg::Vec3f& playerPosition)
     {
         for (const auto& v : mAgents)
             mNavMeshManager.update(playerPosition, v.first);
     }
 
-    void Navigator::wait()
+    void NavigatorImpl::wait()
     {
         mNavMeshManager.wait();
     }
 
-    std::map<osg::Vec3f, SharedNavMeshCacheItem> Navigator::getNavMeshes() const
+    SharedNavMeshCacheItem NavigatorImpl::getNavMesh(const osg::Vec3f& agentHalfExtents) const
+    {
+        return mNavMeshManager.getNavMesh(agentHalfExtents);
+    }
+
+    std::map<osg::Vec3f, SharedNavMeshCacheItem> NavigatorImpl::getNavMeshes() const
     {
         return mNavMeshManager.getNavMeshes();
     }
 
-    const Settings& Navigator::getSettings() const
+    Settings NavigatorImpl::getSettings() const
     {
         return mSettings;
     }
 
-    void Navigator::updateAvoidShapeId(const ObjectId id, const ObjectId avoidId)
+    void NavigatorImpl::updateAvoidShapeId(const ObjectId id, const ObjectId avoidId)
     {
         updateId(id, avoidId, mWaterIds);
     }
 
-    void Navigator::updateWaterShapeId(const ObjectId id, const ObjectId waterId)
+    void NavigatorImpl::updateWaterShapeId(const ObjectId id, const ObjectId waterId)
     {
         updateId(id, waterId, mWaterIds);
     }
 
-    void Navigator::updateId(const ObjectId id, const ObjectId updateId, std::unordered_map<ObjectId, ObjectId>& ids)
+    void NavigatorImpl::updateId(const ObjectId id, const ObjectId updateId, std::unordered_map<ObjectId, ObjectId>& ids)
     {
         auto inserted = ids.insert(std::make_pair(id, updateId));
         if (!inserted.second)

components/detournavigator/navigatorimpl.hpp

@@ -0,0 +1,64 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORIMPL_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORIMPL_H
+
+#include "navigator.hpp"
+#include "navmeshmanager.hpp"
+
+namespace DetourNavigator
+{
+    class NavigatorImpl final : public Navigator
+    {
+    public:
+        /**
+         * @brief Navigator constructor initializes all internal data. Constructed object is ready to build a scene.
+         * @param settings allows to customize navigator work. Constructor is only place to set navigator settings.
+         */
+        NavigatorImpl(const Settings& settings);
+
+        void addAgent(const osg::Vec3f& agentHalfExtents) override;
+
+        void removeAgent(const osg::Vec3f& agentHalfExtents) override;
+
+        bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) override;
+
+        bool addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) override;
+
+        bool addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) override;
+
+        bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) override;
+
+        bool updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) override;
+
+        bool updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) override;
+
+        bool removeObject(const ObjectId id) override;
+
+        bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
+            const btTransform& transform) override;
+
+        bool removeWater(const osg::Vec2i& cellPosition) override;
+
+        void update(const osg::Vec3f& playerPosition) override;
+
+        void wait() override;
+
+        SharedNavMeshCacheItem getNavMesh(const osg::Vec3f& agentHalfExtents) const override;
+
+        std::map<osg::Vec3f, SharedNavMeshCacheItem> getNavMeshes() const override;
+
+        Settings getSettings() const override;
+
+    private:
+        Settings mSettings;
+        NavMeshManager mNavMeshManager;
+        std::map<osg::Vec3f, std::size_t> mAgents;
+        std::unordered_map<ObjectId, ObjectId> mAvoidIds;
+        std::unordered_map<ObjectId, ObjectId> mWaterIds;
+
+        void updateAvoidShapeId(const ObjectId id, const ObjectId avoidId);
+        void updateWaterShapeId(const ObjectId id, const ObjectId waterId);
+        void updateId(const ObjectId id, const ObjectId waterId, std::unordered_map<ObjectId, ObjectId>& ids);
+    };
+}
+
+#endif

components/detournavigator/navigatorstub.hpp

@@ -0,0 +1,83 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORSTUB_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORSTUB_H
+
+#include "navigator.hpp"
+
+namespace DetourNavigator
+{
+    struct NavigatorStub final : public Navigator
+    {
+        NavigatorStub() = default;
+
+        void addAgent(const osg::Vec3f& /*agentHalfExtents*/) override {}
+
+        void removeAgent(const osg::Vec3f& /*agentHalfExtents*/) override {}
+
+        bool addObject(const ObjectId /*id*/, const btCollisionShape& /*shape*/, const btTransform& /*transform*/) override
+        {
+            return false;
+        }
+
+        bool addObject(const ObjectId /*id*/, const ObjectShapes& /*shapes*/, const btTransform& /*transform*/) override
+        {
+            return false;
+        }
+
+        bool addObject(const ObjectId /*id*/, const DoorShapes& /*shapes*/, const btTransform& /*transform*/) override
+        {
+            return false;
+        }
+
+        bool updateObject(const ObjectId /*id*/, const btCollisionShape& /*shape*/, const btTransform& /*transform*/) override
+        {
+            return false;
+        }
+
+        bool updateObject(const ObjectId /*id*/, const ObjectShapes& /*shapes*/, const btTransform& /*transform*/) override
+        {
+            return false;
+        }
+
+        bool updateObject(const ObjectId /*id*/, const DoorShapes& /*shapes*/, const btTransform& /*transform*/) override
+        {
+            return false;
+        }
+
+        bool removeObject(const ObjectId /*id*/) override
+        {
+            return false;
+        }
+
+        bool addWater(const osg::Vec2i& /*cellPosition*/, const int /*cellSize*/, const btScalar /*level*/,
+            const btTransform& /*transform*/) override
+        {
+            return false;
+        }
+
+        bool removeWater(const osg::Vec2i& /*cellPosition*/) override
+        {
+            return false;
+        }
+
+        void update(const osg::Vec3f& /*playerPosition*/) override {}
+
+        void wait() override {}
+
+        SharedNavMeshCacheItem getNavMesh(const osg::Vec3f& /*agentHalfExtents*/) const override
+        {
+            return SharedNavMeshCacheItem();
+        }
+
+        std::map<osg::Vec3f, SharedNavMeshCacheItem> getNavMeshes() const override
+        {
+            return std::map<osg::Vec3f, SharedNavMeshCacheItem>();
+        }
+
+        Settings getSettings() const override
+        {
+            return Settings {};
+        }
+    };
+}
+
+#endif

components/detournavigator/navmeshmanager.cpp

@@ -135,7 +135,13 @@ namespace DetourNavigator
         else
             lastPlayerTile->second = playerTile;
         std::map<TilePosition, ChangeType> tilesToPost;
-        const auto& cached = getCached(agentHalfExtents);
+        const auto cached = getCached(agentHalfExtents);
+        if (!cached)
+        {
+            std::ostringstream stream;
+            stream << "Agent with half extents is not found: " << agentHalfExtents;
+            throw InvalidArgument(stream.str());
+        }
         const auto changedTiles = mChangedTiles.find(agentHalfExtents);
         {
             const auto locked = cached.lock();
@@ -220,13 +226,11 @@ namespace DetourNavigator
         }
     }
 
-    const SharedNavMeshCacheItem& NavMeshManager::getCached(const osg::Vec3f& agentHalfExtents) const
+    SharedNavMeshCacheItem NavMeshManager::getCached(const osg::Vec3f& agentHalfExtents) const
     {
         const auto cached = mCache.find(agentHalfExtents);
         if (cached != mCache.end())
             return cached->second;
-        std::ostringstream stream;
-        stream << "Agent with half extents is not found: " << agentHalfExtents;
-        throw InvalidArgument(stream.str());
+        return SharedNavMeshCacheItem();
     }
 }

components/detournavigator/navmeshmanager.hpp

@@ -67,7 +67,7 @@ namespace DetourNavigator
 
         void addChangedTile(const TilePosition& tilePosition, const ChangeType changeType);
 
-        const SharedNavMeshCacheItem& getCached(const osg::Vec3f& agentHalfExtents) const;
+        SharedNavMeshCacheItem getCached(const osg::Vec3f& agentHalfExtents) const;
     };
 }
 

components/detournavigator/settings.cpp

@@ -0,0 +1,47 @@
+#include "settings.hpp"
+
+#include <components/settings/settings.hpp>
+
+#include <string>
+
+namespace DetourNavigator
+{
+    boost::optional<Settings> makeSettingsFromSettingsManager()
+    {
+        if (!::Settings::Manager::getBool("enable", "Navigator"))
+            return boost::optional<Settings>();
+
+        Settings navigatorSettings;
+
+        navigatorSettings.mBorderSize = ::Settings::Manager::getInt("border size", "Navigator");
+        navigatorSettings.mCellHeight = ::Settings::Manager::getFloat("cell height", "Navigator");
+        navigatorSettings.mCellSize = ::Settings::Manager::getFloat("cell size", "Navigator");
+        navigatorSettings.mDetailSampleDist = ::Settings::Manager::getFloat("detail sample dist", "Navigator");
+        navigatorSettings.mDetailSampleMaxError = ::Settings::Manager::getFloat("detail sample max error", "Navigator");
+        navigatorSettings.mMaxClimb = 0;
+        navigatorSettings.mMaxSimplificationError = ::Settings::Manager::getFloat("max simplification error", "Navigator");
+        navigatorSettings.mMaxSlope = 0;
+        navigatorSettings.mRecastScaleFactor = ::Settings::Manager::getFloat("recast scale factor", "Navigator");
+        navigatorSettings.mSwimHeightScale = 0;
+        navigatorSettings.mMaxEdgeLen = ::Settings::Manager::getInt("max edge len", "Navigator");
+        navigatorSettings.mMaxNavMeshQueryNodes = ::Settings::Manager::getInt("max nav mesh query nodes", "Navigator");
+        navigatorSettings.mMaxPolys = ::Settings::Manager::getInt("max polygons per tile", "Navigator");
+        navigatorSettings.mMaxVertsPerPoly = ::Settings::Manager::getInt("max verts per poly", "Navigator");
+        navigatorSettings.mRegionMergeSize = ::Settings::Manager::getInt("region merge size", "Navigator");
+        navigatorSettings.mRegionMinSize = ::Settings::Manager::getInt("region min size", "Navigator");
+        navigatorSettings.mTileSize = ::Settings::Manager::getInt("tile size", "Navigator");
+        navigatorSettings.mAsyncNavMeshUpdaterThreads = static_cast<std::size_t>(::Settings::Manager::getInt("async nav mesh updater threads", "Navigator"));
+        navigatorSettings.mMaxNavMeshTilesCacheSize = static_cast<std::size_t>(::Settings::Manager::getInt("max nav mesh tiles cache size", "Navigator"));
+        navigatorSettings.mMaxPolygonPathSize = static_cast<std::size_t>(::Settings::Manager::getInt("max polygon path size", "Navigator"));
+        navigatorSettings.mMaxSmoothPathSize = static_cast<std::size_t>(::Settings::Manager::getInt("max smooth path size", "Navigator"));
+        navigatorSettings.mTrianglesPerChunk = static_cast<std::size_t>(::Settings::Manager::getInt("triangles per chunk", "Navigator"));
+        navigatorSettings.mEnableWriteRecastMeshToFile = ::Settings::Manager::getBool("enable write recast mesh to file", "Navigator");
+        navigatorSettings.mEnableWriteNavMeshToFile = ::Settings::Manager::getBool("enable write nav mesh to file", "Navigator");
+        navigatorSettings.mRecastMeshPathPrefix = ::Settings::Manager::getString("recast mesh path prefix", "Navigator");
+        navigatorSettings.mNavMeshPathPrefix = ::Settings::Manager::getString("nav mesh path prefix", "Navigator");
+        navigatorSettings.mEnableRecastMeshFileNameRevision = ::Settings::Manager::getBool("enable recast mesh file name revision", "Navigator");
+        navigatorSettings.mEnableNavMeshFileNameRevision = ::Settings::Manager::getBool("enable nav mesh file name revision", "Navigator");
+
+        return navigatorSettings;
+    }
+}

components/detournavigator/settings.hpp

@@ -1,41 +1,45 @@
 #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SETTINGS_H
 #define OPENMW_COMPONENTS_DETOURNAVIGATOR_SETTINGS_H
 
+#include <boost/optional.hpp>
+
 #include <string>
 
 namespace DetourNavigator
 {
     struct Settings
     {
-        bool mEnableWriteRecastMeshToFile;
-        bool mEnableWriteNavMeshToFile;
-        bool mEnableRecastMeshFileNameRevision;
-        bool mEnableNavMeshFileNameRevision;
-        float mCellHeight;
-        float mCellSize;
-        float mDetailSampleDist;
-        float mDetailSampleMaxError;
-        float mMaxClimb;
-        float mMaxSimplificationError;
-        float mMaxSlope;
-        float mRecastScaleFactor;
-        float mSwimHeightScale;
-        int mBorderSize;
-        int mMaxEdgeLen;
-        int mMaxNavMeshQueryNodes;
-        int mMaxPolys;
-        int mMaxVertsPerPoly;
-        int mRegionMergeSize;
-        int mRegionMinSize;
-        int mTileSize;
-        std::size_t mAsyncNavMeshUpdaterThreads;
-        std::size_t mMaxNavMeshTilesCacheSize;
-        std::size_t mMaxPolygonPathSize;
-        std::size_t mMaxSmoothPathSize;
-        std::size_t mTrianglesPerChunk;
+        bool mEnableWriteRecastMeshToFile = false;
+        bool mEnableWriteNavMeshToFile = false;
+        bool mEnableRecastMeshFileNameRevision = false;
+        bool mEnableNavMeshFileNameRevision = false;
+        float mCellHeight = 0;
+        float mCellSize = 0;
+        float mDetailSampleDist = 0;
+        float mDetailSampleMaxError = 0;
+        float mMaxClimb = 0;
+        float mMaxSimplificationError = 0;
+        float mMaxSlope = 0;
+        float mRecastScaleFactor = 0;
+        float mSwimHeightScale = 0;
+        int mBorderSize = 0;
+        int mMaxEdgeLen = 0;
+        int mMaxNavMeshQueryNodes = 0;
+        int mMaxPolys = 0;
+        int mMaxVertsPerPoly = 0;
+        int mRegionMergeSize = 0;
+        int mRegionMinSize = 0;
+        int mTileSize = 0;
+        std::size_t mAsyncNavMeshUpdaterThreads = 0;
+        std::size_t mMaxNavMeshTilesCacheSize = 0;
+        std::size_t mMaxPolygonPathSize = 0;
+        std::size_t mMaxSmoothPathSize = 0;
+        std::size_t mTrianglesPerChunk = 0;
         std::string mRecastMeshPathPrefix;
         std::string mNavMeshPathPrefix;
     };
+
+    boost::optional<Settings> makeSettingsFromSettingsManager();
 }
 
 #endif

components/misc/guarded.hpp

@@ -106,6 +106,11 @@ namespace Misc
                 return Locked<const T>(*mMutex, *mValue);
             }
 
+            operator bool() const
+            {
+                return static_cast<bool>(mValue);
+            }
+
         private:
             std::shared_ptr<std::mutex> mMutex;
             std::shared_ptr<T> mValue;

files/settings-default.cfg

@@ -542,6 +542,10 @@ companion h = 0.63
 
 [Navigator]
 
+# Enable navigator (true, false). When enabled background threads are started to build navmesh for world geometry.
+# Pathfinding system uses navmesh to build paths. When disabled only pathgrid is used to build paths.
+enable = true
+
 # Scale of NavMesh coordinates to world coordinates (value > 0.0). Recastnavigation builds voxels for world geometry.
 # Basically voxel size is 1 / "cell size". To reduce amount of voxels we apply scale factor, to make voxel size
 # "recast scale factor" / "cell size". Default value calculates by this equation: