Merge branch 'navmeshtool' into 'master'

Navmesh disk cache (#6189)

Closes #6189

See merge request OpenMW/openmw!1058

.gitlab-ci.yml

@@ -219,7 +219,7 @@ macOS11_Xcode12:
     CCACHE_SIZE: 3G
 
 variables: &engine-targets
-  targets: "openmw,openmw-iniimporter,openmw-launcher,openmw-wizard"
+  targets: "openmw,openmw-iniimporter,openmw-launcher,openmw-wizard,openmw-navmeshtool"
   package: "Engine"
 
 variables: &cs-targets

CHANGELOG.md

@@ -108,6 +108,7 @@
     Feature #6128: Soft Particles
     Feature #6161: Refactor Sky to use shaders and GLES/GL3 friendly
     Feature #6162: Refactor GUI to use shaders and to be GLES and GL3+ friendly
+    Feature #6189: Navigation mesh disk cache
     Feature #6199: Support FBO Rendering
     Feature #6248: Embedded error marker mesh
     Feature #6249: Alpha testing support for Collada

CI/before_script.android.sh

@@ -22,6 +22,7 @@ cmake \
 -DBUILD_ESSIMPORTER=0 \
 -DBUILD_OPENCS=0 \
 -DBUILD_WIZARD=0 \
+-DBUILD_NAVMESHTOOL=OFF \
 -DOPENMW_USE_SYSTEM_MYGUI=OFF \
 -DOPENMW_USE_SYSTEM_SQLITE3=OFF \
 ..

CI/before_script.linux.sh

@@ -71,6 +71,7 @@ if [[ "${BUILD_TESTS_ONLY}" ]]; then
         -DBUILD_ESSIMPORTER=OFF \
         -DBUILD_OPENCS=OFF \
         -DBUILD_WIZARD=OFF \
+        -DBUILD_NAVMESHTOOL=OFF \
         -DBUILD_UNITTESTS=${BUILD_UNITTESTS} \
         -DBUILD_BENCHMARKS=${BUILD_BENCHMARKS} \
         -DGTEST_ROOT="${GOOGLETEST_DIR}" \

CMakeLists.txt

@@ -37,6 +37,7 @@ option(BUILD_DOCS               "Build documentation." OFF )
 option(BUILD_WITH_CODE_COVERAGE "Enable code coverage with gconv" OFF)
 option(BUILD_UNITTESTS          "Enable Unittests with Google C++ Unittest" OFF)
 option(BUILD_BENCHMARKS         "Build benchmarks with Google Benchmark" OFF)
+option(BUILD_NAVMESHTOOL        "Build navmesh tool" ON)
 
 set(OpenGL_GL_PREFERENCE LEGACY)  # Use LEGACY as we use GL2; GLNVD is for GL3 and up.
 
@@ -603,6 +604,10 @@ if (BUILD_BENCHMARKS)
   add_subdirectory(apps/benchmarks)
 endif()
 
+if (BUILD_NAVMESHTOOL)
+  add_subdirectory(apps/navmeshtool)
+endif()
+
 if (WIN32)
   if (MSVC)
     if (OPENMW_MP_BUILD)
@@ -702,6 +707,10 @@ if (WIN32)
     if (BUILD_BENCHMARKS)
         set_target_properties(openmw_detournavigator_navmeshtilescache_benchmark PROPERTIES COMPILE_FLAGS "${WARNINGS} ${MT_BUILD}")
     endif()
+
+    if (BUILD_NAVMESHTOOL)
+        set_target_properties(openmw-navmeshtool PROPERTIES COMPILE_FLAGS "${WARNINGS} ${MT_BUILD}")
+    endif()
   endif(MSVC)
 
   # TODO: At some point release builds should not use the console but rather write to a log file
@@ -944,6 +953,9 @@ elseif(NOT APPLE)
         IF(BUILD_WIZARD)
             INSTALL(PROGRAMS "${INSTALL_SOURCE}/openmw-wizard" DESTINATION "${BINDIR}" )
         ENDIF(BUILD_WIZARD)
+        if(BUILD_NAVMESHTOOL)
+            install(PROGRAMS "${INSTALL_SOURCE}/openmw-navmeshtool" DESTINATION "${BINDIR}" )
+        endif()
 
         # Install licenses
         INSTALL(FILES "files/mygui/DejaVuFontLicense.txt" DESTINATION "${LICDIR}" )

apps/benchmarks/detournavigator/navmeshtilescache.cpp

@@ -145,7 +145,7 @@ namespace
         std::vector<CellWater> water;
         generateWater(std::back_inserter(water), 1, random);
         RecastMesh recastMesh(generation, revision, std::move(mesh), std::move(water),
-                              {generateHeightfield(random)}, {generateFlatHeightfield(random)});
+                              {generateHeightfield(random)}, {generateFlatHeightfield(random)}, {});
         return Key {agentHalfExtents, tilePosition, std::move(recastMesh)};
     }
 

apps/launcher/datafilespage.cpp

@@ -1,4 +1,5 @@
 #include "datafilespage.hpp"
+#include "maindialog.hpp"
 
 #include <QDebug>
 
@@ -8,6 +9,7 @@
 #include <QSortFilterProxyModel>
 #include <thread>
 #include <mutex>
+#include <algorithm>
 
 #include <apps/launcher/utils/cellnameloader.hpp>
 #include <components/files/configurationmanager.hpp>
@@ -24,11 +26,14 @@
 
 const char *Launcher::DataFilesPage::mDefaultContentListName = "Default";
 
-Launcher::DataFilesPage::DataFilesPage(Files::ConfigurationManager &cfg, Config::GameSettings &gameSettings, Config::LauncherSettings &launcherSettings, QWidget *parent)
+Launcher::DataFilesPage::DataFilesPage(Files::ConfigurationManager &cfg, Config::GameSettings &gameSettings,
+                                       Config::LauncherSettings &launcherSettings, MainDialog *parent)
     : QWidget(parent)
+    , mMainDialog(parent)
     , mCfgMgr(cfg)
     , mGameSettings(gameSettings)
     , mLauncherSettings(launcherSettings)
+    , mNavMeshToolInvoker(new Process::ProcessInvoker(this))
 {
     ui.setupUi (this);
     setObjectName ("DataFilesPage");
@@ -57,8 +62,6 @@ Launcher::DataFilesPage::DataFilesPage(Files::ConfigurationManager &cfg, Config:
 
 void Launcher::DataFilesPage::buildView()
 {
-    ui.verticalLayout->insertWidget (0, mSelector->uiWidget());
-
     QToolButton * refreshButton = mSelector->refreshButton();    
 
     //tool buttons
@@ -89,6 +92,13 @@ void Launcher::DataFilesPage::buildView()
              this, SLOT (slotProfileChangedByUser(QString, QString)));
 
     connect(ui.refreshDataFilesAction, SIGNAL(triggered()),this, SLOT(slotRefreshButtonClicked()));
+
+    connect(ui.updateNavMeshButton, SIGNAL(clicked()), this, SLOT(startNavMeshTool()));
+    connect(ui.cancelNavMeshButton, SIGNAL(clicked()), this, SLOT(killNavMeshTool()));
+
+    connect(mNavMeshToolInvoker->getProcess(), SIGNAL(readyReadStandardOutput()), this, SLOT(updateNavMeshProgress()));
+    connect(mNavMeshToolInvoker->getProcess(), SIGNAL(readyReadStandardError()), this, SLOT(updateNavMeshProgress()));
+    connect(mNavMeshToolInvoker->getProcess(), SIGNAL(finished(int, QProcess::ExitStatus)), this, SLOT(navMeshToolFinished(int, QProcess::ExitStatus)));
 }
 
 bool Launcher::DataFilesPage::loadSettings()
@@ -411,3 +421,55 @@ void Launcher::DataFilesPage::reloadCells(QStringList selectedFiles)
     std::sort(cellNamesList.begin(), cellNamesList.end());
     emit signalLoadedCellsChanged(cellNamesList);
 }
+
+void Launcher::DataFilesPage::startNavMeshTool()
+{
+    mMainDialog->writeSettings();
+
+    ui.navMeshLogPlainTextEdit->clear();
+    ui.navMeshProgressBar->setValue(0);
+    ui.navMeshProgressBar->setMaximum(1);
+
+    if (!mNavMeshToolInvoker->startProcess(QLatin1String("openmw-navmeshtool")))
+        return;
+
+    ui.cancelNavMeshButton->setEnabled(true);
+    ui.navMeshProgressBar->setEnabled(true);
+}
+
+void Launcher::DataFilesPage::killNavMeshTool()
+{
+    mNavMeshToolInvoker->killProcess();
+}
+
+void Launcher::DataFilesPage::updateNavMeshProgress()
+{
+    QProcess& process = *mNavMeshToolInvoker->getProcess();
+    QString text;
+    while (process.canReadLine())
+    {
+        const QByteArray line = process.readLine();
+        const auto end = std::find_if(line.rbegin(), line.rend(), [] (auto v) { return v != '\n' && v != '\r'; });
+        text = QString::fromUtf8(line.mid(0, line.size() - (end - line.rbegin())));
+        ui.navMeshLogPlainTextEdit->appendPlainText(text);
+    }
+    const QRegularExpression pattern(R"([\( ](\d+)/(\d+)[\) ])");
+    QRegularExpressionMatch match = pattern.match(text);
+    if (!match.hasMatch())
+        return;
+    int maximum = match.captured(2).toInt();
+    if (text.contains("cell"))
+        maximum *= 100;
+    ui.navMeshProgressBar->setMaximum(std::max(ui.navMeshProgressBar->maximum(), maximum));
+    ui.navMeshProgressBar->setValue(match.captured(1).toInt());
+}
+
+void Launcher::DataFilesPage::navMeshToolFinished(int exitCode, QProcess::ExitStatus exitStatus)
+{
+    updateNavMeshProgress();
+    ui.navMeshLogPlainTextEdit->appendPlainText(QString::fromUtf8(mNavMeshToolInvoker->getProcess()->readAll()));
+    if (exitCode == 0 && exitStatus == QProcess::ExitStatus::NormalExit)
+        ui.navMeshProgressBar->setValue(ui.navMeshProgressBar->maximum());
+    ui.cancelNavMeshButton->setEnabled(false);
+    ui.navMeshProgressBar->setEnabled(false);
+}

apps/launcher/datafilespage.hpp

@@ -2,6 +2,9 @@
 #define DATAFILESPAGE_H
 
 #include "ui_datafilespage.h"
+
+#include <components/process/processinvoker.hpp>
+
 #include <QWidget>
 
 
@@ -19,6 +22,7 @@ namespace Config { class GameSettings;
 
 namespace Launcher
 {
+    class MainDialog;
     class TextInputDialog;
     class ProfilesComboBox;
 
@@ -31,7 +35,7 @@ namespace Launcher
 
     public:
         explicit DataFilesPage (Files::ConfigurationManager &cfg, Config::GameSettings &gameSettings,
-                                Config::LauncherSettings &launcherSettings, QWidget *parent = nullptr);
+                                Config::LauncherSettings &launcherSettings, MainDialog *parent = nullptr);
 
         QAbstractItemModel* profilesModel() const;
 
@@ -69,12 +73,18 @@ namespace Launcher
         void on_cloneProfileAction_triggered();
         void on_deleteProfileAction_triggered();
 
+        void startNavMeshTool();
+        void killNavMeshTool();
+        void updateNavMeshProgress();
+        void navMeshToolFinished(int exitCode, QProcess::ExitStatus exitStatus);
+
     public:
         /// Content List that is always present
         const static char *mDefaultContentListName;
 
     private:
 
+        MainDialog *mMainDialog;
         TextInputDialog *mNewProfileDialog;
         TextInputDialog *mCloneProfileDialog;
 
@@ -87,6 +97,8 @@ namespace Launcher
         QStringList previousSelectedFiles;
         QString mDataLocal;
 
+        Process::ProcessInvoker* mNavMeshToolInvoker;
+
         void buildView();
         void setProfile (int index, bool savePrevious);
         void setProfile (const QString &previous, const QString &current, bool savePrevious);

apps/navmeshtool/CMakeLists.txt

@@ -0,0 +1,22 @@
+set(NAVMESHTOOL
+    worldspacedata.cpp
+    navmesh.cpp
+    main.cpp
+)
+source_group(apps\\navmeshtool FILES ${NAVMESHTOOL})
+
+openmw_add_executable(openmw-navmeshtool ${NAVMESHTOOL})
+
+target_link_libraries(openmw-navmeshtool
+    ${Boost_PROGRAM_OPTIONS_LIBRARY}
+    components
+)
+
+if (BUILD_WITH_CODE_COVERAGE)
+    add_definitions(--coverage)
+    target_link_libraries(openmw-navmeshtool gcov)
+endif()
+
+if (WIN32)
+    install(TARGETS openmw-navmeshtool RUNTIME DESTINATION ".")
+endif()

apps/navmeshtool/main.cpp

@@ -0,0 +1,209 @@
+#include "worldspacedata.hpp"
+#include "navmesh.hpp"
+
+#include <components/debug/debugging.hpp>
+#include <components/detournavigator/navmeshdb.hpp>
+#include <components/detournavigator/recastglobalallocator.hpp>
+#include <components/esm/esmreader.hpp>
+#include <components/esm/variant.hpp>
+#include <components/esmloader/esmdata.hpp>
+#include <components/esmloader/load.hpp>
+#include <components/fallback/fallback.hpp>
+#include <components/fallback/validate.hpp>
+#include <components/files/configurationmanager.hpp>
+#include <components/resource/bulletshapemanager.hpp>
+#include <components/resource/imagemanager.hpp>
+#include <components/resource/niffilemanager.hpp>
+#include <components/resource/scenemanager.hpp>
+#include <components/settings/settings.hpp>
+#include <components/to_utf8/to_utf8.hpp>
+#include <components/version/version.hpp>
+#include <components/vfs/manager.hpp>
+#include <components/vfs/registerarchives.hpp>
+
+#include <osg/Vec3f>
+
+#include <boost/filesystem.hpp>
+#include <boost/program_options.hpp>
+
+#include <cstddef>
+#include <stdexcept>
+#include <string>
+#include <thread>
+#include <vector>
+
+namespace NavMeshTool
+{
+    namespace
+    {
+        namespace bpo = boost::program_options;
+
+        using StringsVector = std::vector<std::string>;
+
+        bpo::options_description makeOptionsDescription()
+        {
+            using Fallback::FallbackMap;
+
+            bpo::options_description result;
+
+            result.add_options()
+                ("help", "print help message")
+
+                ("version", "print version information and quit")
+
+                ("data", bpo::value<Files::MaybeQuotedPathContainer>()->default_value(Files::MaybeQuotedPathContainer(), "data")
+                    ->multitoken()->composing(), "set data directories (later directories have higher priority)")
+
+                ("data-local", bpo::value<Files::MaybeQuotedPathContainer::value_type>()->default_value(Files::MaybeQuotedPathContainer::value_type(), ""),
+                    "set local data directory (highest priority)")
+
+                ("fallback-archive", bpo::value<StringsVector>()->default_value(StringsVector(), "fallback-archive")
+                    ->multitoken()->composing(), "set fallback BSA archives (later archives have higher priority)")
+
+                ("resources", bpo::value<Files::MaybeQuotedPath>()->default_value(Files::MaybeQuotedPath(), "resources"),
+                    "set resources directory")
+
+                ("content", bpo::value<StringsVector>()->default_value(StringsVector(), "")
+                    ->multitoken()->composing(), "content file(s): esm/esp, or omwgame/omwaddon/omwscripts")
+
+                ("fs-strict", bpo::value<bool>()->implicit_value(true)
+                    ->default_value(false), "strict file system handling (no case folding)")
+
+                ("encoding", bpo::value<std::string>()->
+                    default_value("win1252"),
+                    "Character encoding used in OpenMW game messages:\n"
+                    "\n\twin1250 - Central and Eastern European such as Polish, Czech, Slovak, Hungarian, Slovene, Bosnian, Croatian, Serbian (Latin script), Romanian and Albanian languages\n"
+                    "\n\twin1251 - Cyrillic alphabet such as Russian, Bulgarian, Serbian Cyrillic and other languages\n"
+                    "\n\twin1252 - Western European (Latin) alphabet, used by default")
+
+                ("fallback", bpo::value<Fallback::FallbackMap>()->default_value(Fallback::FallbackMap(), "")
+                    ->multitoken()->composing(), "fallback values")
+
+                ("threads", bpo::value<std::size_t>()->default_value(std::max<std::size_t>(std::thread::hardware_concurrency() - 1, 1)),
+                    "number of threads for parallel processing")
+
+                ("process-interior-cells", bpo::value<bool>()->implicit_value(true)
+                    ->default_value(false), "build navmesh for interior cells")
+            ;
+
+            return result;
+        }
+
+        void loadSettings(const Files::ConfigurationManager& config, Settings::Manager& settings)
+        {
+            const std::string localDefault = (config.getLocalPath() / "defaults.bin").string();
+            const std::string globalDefault = (config.getGlobalPath() / "defaults.bin").string();
+
+            if (boost::filesystem::exists(localDefault))
+                settings.loadDefault(localDefault);
+            else if (boost::filesystem::exists(globalDefault))
+                settings.loadDefault(globalDefault);
+            else
+                throw std::runtime_error("No default settings file found! Make sure the file \"defaults.bin\" was properly installed.");
+
+            const std::string settingsPath = (config.getUserConfigPath() / "settings.cfg").string();
+            if (boost::filesystem::exists(settingsPath))
+                settings.loadUser(settingsPath);
+        }
+
+        int runNavMeshTool(int argc, char *argv[])
+        {
+            bpo::options_description desc = makeOptionsDescription();
+
+            bpo::parsed_options options = bpo::command_line_parser(argc, argv)
+                .options(desc).allow_unregistered().run();
+            bpo::variables_map variables;
+
+            bpo::store(options, variables);
+            bpo::notify(variables);
+
+            if (variables.find("help") != variables.end())
+            {
+                getRawStdout() << desc << std::endl;
+                return 0;
+            }
+
+            Files::ConfigurationManager config;
+
+            bpo::variables_map composingVariables = Files::separateComposingVariables(variables, desc);
+            config.readConfiguration(variables, desc);
+            Files::mergeComposingVariables(variables, composingVariables, desc);
+
+            const std::string encoding(variables["encoding"].as<std::string>());
+            Log(Debug::Info) << ToUTF8::encodingUsingMessage(encoding);
+            ToUTF8::Utf8Encoder encoder(ToUTF8::calculateEncoding(encoding));
+
+            Files::PathContainer dataDirs(asPathContainer(variables["data"].as<Files::MaybeQuotedPathContainer>()));
+
+            auto local = variables["data-local"].as<Files::MaybeQuotedPathContainer::value_type>();
+            if (!local.empty())
+                dataDirs.push_back(std::move(local));
+
+            config.processPaths(dataDirs);
+
+            const auto fsStrict = variables["fs-strict"].as<bool>();
+            const auto resDir = variables["resources"].as<Files::MaybeQuotedPath>();
+            Version::Version v = Version::getOpenmwVersion(resDir.string());
+            Log(Debug::Info) << v.describe();
+            dataDirs.insert(dataDirs.begin(), resDir / "vfs");
+            const auto fileCollections = Files::Collections(dataDirs, !fsStrict);
+            const auto archives = variables["fallback-archive"].as<StringsVector>();
+            const auto contentFiles = variables["content"].as<StringsVector>();
+            const std::size_t threadsNumber = variables["threads"].as<std::size_t>();
+
+            if (threadsNumber < 1)
+            {
+                std::cerr << "Invalid threads number: " << threadsNumber << ", expected >= 1";
+                return -1;
+            }
+
+            const bool processInteriorCells = variables["process-interior-cells"].as<bool>();
+
+            Fallback::Map::init(variables["fallback"].as<Fallback::FallbackMap>().mMap);
+
+            VFS::Manager vfs(fsStrict);
+
+            VFS::registerArchives(&vfs, fileCollections, archives, true);
+
+            Settings::Manager settings;
+            loadSettings(config, settings);
+
+            const osg::Vec3f agentHalfExtents = Settings::Manager::getVector3("default actor pathfind half extents", "Game");
+
+            DetourNavigator::NavMeshDb db((config.getUserDataPath() / "navmesh.db").string());
+
+            std::vector<ESM::ESMReader> readers(contentFiles.size());
+            EsmLoader::Query query;
+            query.mLoadActivators = true;
+            query.mLoadCells = true;
+            query.mLoadContainers = true;
+            query.mLoadDoors = true;
+            query.mLoadGameSettings = true;
+            query.mLoadLands = true;
+            query.mLoadStatics = true;
+            const EsmLoader::EsmData esmData = EsmLoader::loadEsmData(query, contentFiles, fileCollections, readers, &encoder);
+
+            Resource::ImageManager imageManager(&vfs);
+            Resource::NifFileManager nifFileManager(&vfs);
+            Resource::SceneManager sceneManager(&vfs, &imageManager, &nifFileManager);
+            Resource::BulletShapeManager bulletShapeManager(&vfs, &sceneManager, &nifFileManager);
+            DetourNavigator::RecastGlobalAllocator::init();
+            DetourNavigator::Settings navigatorSettings = DetourNavigator::makeSettingsFromSettingsManager();
+            navigatorSettings.mRecast.mSwimHeightScale = EsmLoader::getGameSetting(esmData.mGameSettings, "fSwimHeightScale").getFloat();
+
+            WorldspaceData cellsData = gatherWorldspaceData(navigatorSettings, readers, vfs, bulletShapeManager,
+                                                            esmData, processInteriorCells);
+
+            generateAllNavMeshTiles(agentHalfExtents, navigatorSettings, threadsNumber, cellsData, std::move(db));
+
+            Log(Debug::Info) << "Done";
+
+            return 0;
+        }
+    }
+}
+
+int main(int argc, char *argv[])
+{
+    return wrapApplication(NavMeshTool::runNavMeshTool, argc, argv, "NavMeshTool");
+}

apps/navmeshtool/navmesh.cpp

@@ -0,0 +1,212 @@
+#include "navmesh.hpp"
+
+#include "worldspacedata.hpp"
+
+#include <components/bullethelpers/aabb.hpp>
+#include <components/debug/debuglog.hpp>
+#include <components/detournavigator/generatenavmeshtile.hpp>
+#include <components/detournavigator/gettilespositions.hpp>
+#include <components/detournavigator/navmeshdb.hpp>
+#include <components/detournavigator/navmeshdbutils.hpp>
+#include <components/detournavigator/offmeshconnection.hpp>
+#include <components/detournavigator/offmeshconnectionsmanager.hpp>
+#include <components/detournavigator/preparednavmeshdata.hpp>
+#include <components/detournavigator/recastmesh.hpp>
+#include <components/detournavigator/recastmeshprovider.hpp>
+#include <components/detournavigator/serialization.hpp>
+#include <components/detournavigator/tilecachedrecastmeshmanager.hpp>
+#include <components/detournavigator/tileposition.hpp>
+#include <components/esm/loadcell.hpp>
+#include <components/misc/guarded.hpp>
+#include <components/misc/progressreporter.hpp>
+#include <components/sceneutil/workqueue.hpp>
+#include <components/sqlite3/transaction.hpp>
+
+#include <DetourNavMesh.h>
+
+#include <osg/Vec3f>
+
+#include <algorithm>
+#include <atomic>
+#include <chrono>
+#include <cstddef>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <utility>
+#include <vector>
+
+namespace NavMeshTool
+{
+    namespace
+    {
+        using DetourNavigator::GenerateNavMeshTile;
+        using DetourNavigator::NavMeshDb;
+        using DetourNavigator::NavMeshTileInfo;
+        using DetourNavigator::PreparedNavMeshData;
+        using DetourNavigator::RecastMeshProvider;
+        using DetourNavigator::MeshSource;
+        using DetourNavigator::Settings;
+        using DetourNavigator::ShapeId;
+        using DetourNavigator::TileId;
+        using DetourNavigator::TilePosition;
+        using DetourNavigator::TileVersion;
+        using Sqlite3::Transaction;
+
+        void logGeneratedTiles(std::size_t provided, std::size_t expected)
+        {
+            Log(Debug::Info) << provided << "/" << expected << " ("
+                << (static_cast<double>(provided) / static_cast<double>(expected) * 100)
+                << "%) navmesh tiles are generated";
+        }
+
+        struct LogGeneratedTiles
+        {
+            void operator()(std::size_t provided, std::size_t expected) const
+            {
+                logGeneratedTiles(provided, expected);
+            }
+        };
+
+        class NavMeshTileConsumer final : public DetourNavigator::NavMeshTileConsumer
+        {
+        public:
+            std::atomic_size_t mExpected {0};
+
+            explicit NavMeshTileConsumer(NavMeshDb db)
+                : mDb(std::move(db))
+                , mTransaction(mDb.startTransaction())
+                , mNextTileId(mDb.getMaxTileId() + 1)
+                , mNextShapeId(mDb.getMaxShapeId() + 1)
+            {}
+
+            std::size_t getProvided() const { return mProvided.load(); }
+
+            std::size_t getInserted() const { return mInserted.load(); }
+
+            std::size_t getUpdated() const { return mUpdated.load(); }
+
+            std::int64_t resolveMeshSource(const MeshSource& source) override
+            {
+                const std::lock_guard lock(mMutex);
+                return DetourNavigator::resolveMeshSource(mDb, source, mNextShapeId);
+            }
+
+            std::optional<NavMeshTileInfo> find(const std::string& worldspace, const TilePosition &tilePosition,
+                const std::vector<std::byte> &input) override
+            {
+                std::optional<NavMeshTileInfo> result;
+                std::lock_guard lock(mMutex);
+                if (const auto tile = mDb.findTile(worldspace, tilePosition, input))
+                {
+                    NavMeshTileInfo info;
+                    info.mTileId = tile->mTileId;
+                    info.mVersion = tile->mVersion;
+                    result.emplace(info);
+                }
+                return result;
+            }
+
+            void ignore() override { report(); }
+
+            void insert(const std::string& worldspace, const TilePosition& tilePosition, std::int64_t version,
+                const std::vector<std::byte>& input, PreparedNavMeshData& data) override
+            {
+                data.mUserId = static_cast<unsigned>(mNextTileId);
+                {
+                    std::lock_guard lock(mMutex);
+                    mDb.insertTile(mNextTileId, worldspace, tilePosition, TileVersion {version}, input, serialize(data));
+                    ++mNextTileId.t;
+                }
+                ++mInserted;
+                report();
+            }
+
+            void update(std::int64_t tileId, std::int64_t version, PreparedNavMeshData& data) override
+            {
+                data.mUserId = static_cast<unsigned>(tileId);
+                {
+                    std::lock_guard lock(mMutex);
+                    mDb.updateTile(TileId {tileId}, TileVersion {version}, serialize(data));
+                }
+                ++mUpdated;
+                report();
+            }
+
+            void wait()
+            {
+                constexpr std::size_t tilesPerTransaction = 3000;
+                std::unique_lock lock(mMutex);
+                while (mProvided < mExpected)
+                {
+                    mHasTile.wait(lock);
+                    if (mProvided % tilesPerTransaction == 0)
+                    {
+                        mTransaction.commit();
+                        mTransaction = mDb.startTransaction();
+                    }
+                }
+                logGeneratedTiles(mProvided, mExpected);
+            }
+
+            void commit() { mTransaction.commit(); }
+
+        private:
+            std::atomic_size_t mProvided {0};
+            std::atomic_size_t mInserted {0};
+            std::atomic_size_t mUpdated {0};
+            std::mutex mMutex;
+            NavMeshDb mDb;
+            Transaction mTransaction;
+            TileId mNextTileId;
+            std::condition_variable mHasTile;
+            Misc::ProgressReporter<LogGeneratedTiles> mReporter;
+            ShapeId mNextShapeId;
+
+            void report()
+            {
+                mReporter(mProvided + 1, mExpected);
+                ++mProvided;
+                mHasTile.notify_one();
+            }
+        };
+    }
+
+    void generateAllNavMeshTiles(const osg::Vec3f& agentHalfExtents, const Settings& settings,
+        const std::size_t threadsNumber, WorldspaceData& data, NavMeshDb&& db)
+    {
+        Log(Debug::Info) << "Generating navmesh tiles by " << threadsNumber << " parallel workers...";
+
+        SceneUtil::WorkQueue workQueue(threadsNumber);
+        auto navMeshTileConsumer = std::make_shared<NavMeshTileConsumer>(std::move(db));
+        std::size_t tiles = 0;
+
+        for (const std::unique_ptr<WorldspaceNavMeshInput>& input : data.mNavMeshInputs)
+        {
+            DetourNavigator::getTilesPositions(
+                Misc::Convert::toOsg(input->mAabb.m_min), Misc::Convert::toOsg(input->mAabb.m_max), settings.mRecast,
+                [&] (const TilePosition& tilePosition)
+                {
+                    workQueue.addWorkItem(new GenerateNavMeshTile(
+                        input->mWorldspace,
+                        tilePosition,
+                        RecastMeshProvider(input->mTileCachedRecastMeshManager),
+                        agentHalfExtents,
+                        settings,
+                        navMeshTileConsumer
+                    ));
+
+                    ++tiles;
+                });
+
+            navMeshTileConsumer->mExpected = tiles;
+        }
+
+        navMeshTileConsumer->wait();
+        navMeshTileConsumer->commit();
+
+        Log(Debug::Info) << "Generated navmesh for " << navMeshTileConsumer->getProvided() << " tiles, "
+            << navMeshTileConsumer->getInserted() << " are inserted and "
+            << navMeshTileConsumer->getUpdated() << " updated";
+    }
+}

apps/navmeshtool/navmesh.hpp

@@ -0,0 +1,23 @@
+#ifndef OPENMW_NAVMESHTOOL_NAVMESH_H
+#define OPENMW_NAVMESHTOOL_NAVMESH_H
+
+#include <osg/Vec3f>
+
+#include <cstddef>
+#include <string_view>
+
+namespace DetourNavigator
+{
+    class NavMeshDb;
+    struct Settings;
+}
+
+namespace NavMeshTool
+{
+    struct WorldspaceData;
+
+    void generateAllNavMeshTiles(const osg::Vec3f& agentHalfExtents, const DetourNavigator::Settings& settings,
+        const std::size_t threadsNumber, WorldspaceData& cellsData, DetourNavigator::NavMeshDb&& db);
+}
+
+#endif

apps/navmeshtool/worldspacedata.cpp

@@ -0,0 +1,330 @@
+#include "worldspacedata.hpp"
+
+#include <components/bullethelpers/aabb.hpp>
+#include <components/bullethelpers/heightfield.hpp>
+#include <components/debug/debuglog.hpp>
+#include <components/detournavigator/gettilespositions.hpp>
+#include <components/detournavigator/objectid.hpp>
+#include <components/detournavigator/recastmesh.hpp>
+#include <components/detournavigator/tilecachedrecastmeshmanager.hpp>
+#include <components/esm/cellref.hpp>
+#include <components/esm/esmreader.hpp>
+#include <components/esm/loadcell.hpp>
+#include <components/esm/loadland.hpp>
+#include <components/esmloader/esmdata.hpp>
+#include <components/esmloader/lessbyid.hpp>
+#include <components/esmloader/record.hpp>
+#include <components/misc/coordinateconverter.hpp>
+#include <components/misc/resourcehelpers.hpp>
+#include <components/misc/stringops.hpp>
+#include <components/resource/bulletshapemanager.hpp>
+#include <components/settings/settings.hpp>
+#include <components/vfs/manager.hpp>
+
+#include <LinearMath/btVector3.h>
+
+#include <osg/Vec2i>
+#include <osg/Vec3f>
+#include <osg/ref_ptr>
+
+#include <algorithm>
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <thread>
+#include <tuple>
+#include <utility>
+#include <vector>
+
+namespace NavMeshTool
+{
+    namespace
+    {
+        using DetourNavigator::CollisionShape;
+        using DetourNavigator::HeightfieldPlane;
+        using DetourNavigator::HeightfieldShape;
+        using DetourNavigator::HeightfieldSurface;
+        using DetourNavigator::ObjectId;
+        using DetourNavigator::ObjectTransform;
+
+        struct CellRef
+        {
+            ESM::RecNameInts mType;
+            ESM::RefNum mRefNum;
+            std::string mRefId;
+            float mScale;
+            ESM::Position mPos;
+
+            CellRef(ESM::RecNameInts type, ESM::RefNum refNum, std::string&& refId, float scale, const ESM::Position& pos)
+                : mType(type), mRefNum(refNum), mRefId(std::move(refId)), mScale(scale), mPos(pos) {}
+        };
+
+        ESM::RecNameInts getType(const EsmLoader::EsmData& esmData, std::string_view refId)
+        {
+            const auto it = std::lower_bound(esmData.mRefIdTypes.begin(), esmData.mRefIdTypes.end(),
+                                             refId, EsmLoader::LessById {});
+            if (it == esmData.mRefIdTypes.end() || it->mId != refId)
+                return {};
+            return it->mType;
+        }
+
+        std::vector<CellRef> loadCellRefs(const ESM::Cell& cell, const EsmLoader::EsmData& esmData,
+            std::vector<ESM::ESMReader>& readers)
+        {
+            std::vector<EsmLoader::Record<CellRef>> cellRefs;
+
+            for (std::size_t i = 0; i < cell.mContextList.size(); i++)
+            {
+                ESM::ESMReader& reader = readers[static_cast<std::size_t>(cell.mContextList[i].index)];
+                cell.restore(reader, static_cast<int>(i));
+                ESM::CellRef cellRef;
+                bool deleted = false;
+                while (ESM::Cell::getNextRef(reader, cellRef, deleted))
+                {
+                    Misc::StringUtils::lowerCaseInPlace(cellRef.mRefID);
+                    const ESM::RecNameInts type = getType(esmData, cellRef.mRefID);
+                    if (type == ESM::RecNameInts {})
+                        continue;
+                    cellRefs.emplace_back(deleted, type, cellRef.mRefNum, std::move(cellRef.mRefID),
+                                        cellRef.mScale, cellRef.mPos);
+                }
+            }
+
+            Log(Debug::Debug) << "Loaded " << cellRefs.size() << " cell refs";
+
+            const auto getKey = [] (const EsmLoader::Record<CellRef>& v) -> const ESM::RefNum& { return v.mValue.mRefNum; };
+            std::vector<CellRef> result = prepareRecords(cellRefs, getKey);
+
+            Log(Debug::Debug) << "Prepared " << result.size() << " unique cell refs";
+
+            return result;
+        }
+
+        template <class F>
+        void forEachObject(const ESM::Cell& cell, const EsmLoader::EsmData& esmData, const VFS::Manager& vfs,
+            Resource::BulletShapeManager& bulletShapeManager, std::vector<ESM::ESMReader>& readers,
+            F&& f)
+        {
+            std::vector<CellRef> cellRefs = loadCellRefs(cell, esmData, readers);
+
+            Log(Debug::Debug) << "Prepared " << cellRefs.size() << " unique cell refs";
+
+            for (CellRef& cellRef : cellRefs)
+            {
+                std::string model(getModel(esmData, cellRef.mRefId, cellRef.mType));
+                if (model.empty())
+                    continue;
+
+                if (cellRef.mType != ESM::REC_STAT)
+                    model = Misc::ResourceHelpers::correctActorModelPath(model, &vfs);
+
+                osg::ref_ptr<const Resource::BulletShape> shape = [&]
+                {
+                    try
+                    {
+                        return bulletShapeManager.getShape("meshes/" + model);
+                    }
+                    catch (const std::exception& e)
+                    {
+                        Log(Debug::Warning) << "Failed to load cell ref \"" << cellRef.mRefId << "\" model \"" << model << "\": " << e.what();
+                        return osg::ref_ptr<const Resource::BulletShape>();
+                    }
+                } ();
+
+                if (shape == nullptr || shape->mCollisionShape == nullptr)
+                    continue;
+
+                osg::ref_ptr<Resource::BulletShapeInstance> shapeInstance(new Resource::BulletShapeInstance(std::move(shape)));
+
+                switch (cellRef.mType)
+                {
+                    case ESM::REC_ACTI:
+                    case ESM::REC_CONT:
+                    case ESM::REC_DOOR:
+                    case ESM::REC_STAT:
+                        f(BulletObject(std::move(shapeInstance), cellRef.mPos, cellRef.mScale));
+                        break;
+                    default:
+                        break;
+                }
+            }
+        }
+
+        struct GetXY
+        {
+            osg::Vec2i operator()(const ESM::Land& value) const { return osg::Vec2i(value.mX, value.mY); }
+        };
+
+        struct LessByXY
+        {
+            bool operator ()(const ESM::Land& lhs, const ESM::Land& rhs) const
+            {
+                return GetXY {}(lhs) < GetXY {}(rhs);
+            }
+
+            bool operator ()(const ESM::Land& lhs, const osg::Vec2i& rhs) const
+            {
+                return GetXY {}(lhs) < rhs;
+            }
+
+            bool operator ()(const osg::Vec2i& lhs, const ESM::Land& rhs) const
+            {
+                return lhs < GetXY {}(rhs);
+            }
+        };
+
+        btAABB getAabb(const osg::Vec2i& cellPosition, btScalar minHeight, btScalar maxHeight)
+        {
+            btAABB aabb;
+            aabb.m_min = btVector3(
+                static_cast<btScalar>(cellPosition.x() * ESM::Land::REAL_SIZE),
+                static_cast<btScalar>(cellPosition.y() * ESM::Land::REAL_SIZE),
+                minHeight
+            );
+            aabb.m_min = btVector3(
+                static_cast<btScalar>((cellPosition.x() + 1) * ESM::Land::REAL_SIZE),
+                static_cast<btScalar>((cellPosition.y() + 1) * ESM::Land::REAL_SIZE),
+                maxHeight
+            );
+            return aabb;
+        }
+
+        void mergeOrAssign(const btAABB& aabb, btAABB& target, bool& initialized)
+        {
+            if (initialized)
+                return target.merge(aabb);
+
+            target.m_min = aabb.m_min;
+            target.m_max = aabb.m_max;
+            initialized = true;
+        }
+
+        std::tuple<HeightfieldShape, float, float> makeHeightfieldShape(const std::optional<ESM::Land>& land,
+            const osg::Vec2i& cellPosition, std::vector<std::vector<float>>& heightfields,
+            std::vector<std::unique_ptr<ESM::Land::LandData>>& landDatas)
+        {
+            if (!land.has_value() || osg::Vec2i(land->mX, land->mY) != cellPosition
+                    || (land->mDataTypes & ESM::Land::DATA_VHGT) == 0)
+                return {HeightfieldPlane {ESM::Land::DEFAULT_HEIGHT}, ESM::Land::DEFAULT_HEIGHT, ESM::Land::DEFAULT_HEIGHT};
+
+            ESM::Land::LandData& landData = *landDatas.emplace_back(std::make_unique<ESM::Land::LandData>());
+            land->loadData(ESM::Land::DATA_VHGT, &landData);
+            heightfields.emplace_back(std::vector(std::begin(landData.mHeights), std::end(landData.mHeights)));
+            HeightfieldSurface surface;
+            surface.mHeights = heightfields.back().data();
+            surface.mMinHeight = landData.mMinHeight;
+            surface.mMaxHeight = landData.mMaxHeight;
+            surface.mSize = static_cast<std::size_t>(ESM::Land::LAND_SIZE);
+            return {surface, landData.mMinHeight, landData.mMaxHeight};
+        }
+    }
+
+    WorldspaceNavMeshInput::WorldspaceNavMeshInput(std::string worldspace, const DetourNavigator::RecastSettings& settings)
+        : mWorldspace(std::move(worldspace))
+        , mTileCachedRecastMeshManager(settings)
+    {
+        mAabb.m_min = btVector3(0, 0, 0);
+        mAabb.m_max = btVector3(0, 0, 0);
+    }
+
+    WorldspaceData gatherWorldspaceData(const DetourNavigator::Settings& settings, std::vector<ESM::ESMReader>& readers,
+        const VFS::Manager& vfs, Resource::BulletShapeManager& bulletShapeManager, const EsmLoader::EsmData& esmData,
+        bool processInteriorCells)
+    {
+        Log(Debug::Info) << "Processing " << esmData.mCells.size() << " cells...";
+
+        std::map<std::string_view, std::unique_ptr<WorldspaceNavMeshInput>> navMeshInputs;
+        WorldspaceData data;
+
+        std::size_t objectsCounter = 0;
+
+        for (std::size_t i = 0; i < esmData.mCells.size(); ++i)
+        {
+            const ESM::Cell& cell = esmData.mCells[i];
+            const bool exterior = cell.isExterior();
+
+            if (!exterior && !processInteriorCells)
+            {
+                Log(Debug::Info) << "Skipped " << (exterior ? "exterior" : "interior")
+                    << " cell (" << (i + 1) << "/" << esmData.mCells.size() << ") \"" << cell.getDescription() << "\"";
+                continue;
+            }
+
+            Log(Debug::Debug) << "Processing " << (exterior ? "exterior" : "interior")
+                << " cell (" << (i + 1) << "/" << esmData.mCells.size() << ") \"" << cell.getDescription() << "\"";
+
+            const osg::Vec2i cellPosition(cell.mData.mX, cell.mData.mY);
+            const std::size_t cellObjectsBegin = data.mObjects.size();
+
+            WorldspaceNavMeshInput& navMeshInput = [&] () -> WorldspaceNavMeshInput&
+            {
+                auto it = navMeshInputs.find(cell.mCellId.mWorldspace);
+                if (it == navMeshInputs.end())
+                {
+                    it = navMeshInputs.emplace(cell.mCellId.mWorldspace,
+                        std::make_unique<WorldspaceNavMeshInput>(cell.mCellId.mWorldspace, settings.mRecast)).first;
+                    it->second->mTileCachedRecastMeshManager.setWorldspace(cell.mCellId.mWorldspace);
+                }
+                return *it->second;
+            } ();
+
+            if (exterior)
+            {
+                const auto it = std::lower_bound(esmData.mLands.begin(), esmData.mLands.end(), cellPosition, LessByXY {});
+                const auto [heightfieldShape, minHeight, maxHeight] = makeHeightfieldShape(
+                    it == esmData.mLands.end() ? std::optional<ESM::Land>() : *it,
+                    cellPosition, data.mHeightfields, data.mLandData
+                );
+
+                mergeOrAssign(getAabb(cellPosition, minHeight, maxHeight),
+                              navMeshInput.mAabb, navMeshInput.mAabbInitialized);
+
+                navMeshInput.mTileCachedRecastMeshManager.addHeightfield(cellPosition, ESM::Land::REAL_SIZE, heightfieldShape);
+
+                navMeshInput.mTileCachedRecastMeshManager.addWater(cellPosition, ESM::Land::REAL_SIZE, -1);
+            }
+            else
+            {
+                if ((cell.mData.mFlags & ESM::Cell::HasWater) != 0)
+                    navMeshInput.mTileCachedRecastMeshManager.addWater(cellPosition, std::numeric_limits<int>::max(), cell.mWater);
+            }
+
+            forEachObject(cell, esmData, vfs, bulletShapeManager, readers,
+                [&] (BulletObject object)
+                {
+                    const btTransform& transform = object.getCollisionObject().getWorldTransform();
+                    const btAABB aabb = BulletHelpers::getAabb(*object.getCollisionObject().getCollisionShape(), transform);
+                    mergeOrAssign(aabb, navMeshInput.mAabb, navMeshInput.mAabbInitialized);
+                    if (const btCollisionShape* avoid = object.getShapeInstance()->mAvoidCollisionShape.get())
+                        navMeshInput.mAabb.merge(BulletHelpers::getAabb(*avoid, transform));
+
+                    const ObjectId objectId(++objectsCounter);
+                    const CollisionShape shape(object.getShapeInstance(), *object.getCollisionObject().getCollisionShape(), object.getObjectTransform());
+
+                    navMeshInput.mTileCachedRecastMeshManager.addObject(objectId, shape, transform, DetourNavigator::AreaType_ground);
+
+                    if (const btCollisionShape* avoid = object.getShapeInstance()->mAvoidCollisionShape.get())
+                    {
+                        const CollisionShape avoidShape(object.getShapeInstance(), *avoid, object.getObjectTransform());
+                        navMeshInput.mTileCachedRecastMeshManager.addObject(objectId, avoidShape, transform, DetourNavigator::AreaType_null);
+                    }
+
+                    data.mObjects.emplace_back(std::move(object));
+                });
+
+            Log(Debug::Info) << "Processed " << (exterior ? "exterior" : "interior")
+                << " cell (" << (i + 1) << "/" << esmData.mCells.size() << ") " << cell.getDescription()
+                << " with " << (data.mObjects.size() - cellObjectsBegin) << " objects";
+        }
+
+        data.mNavMeshInputs.reserve(navMeshInputs.size());
+        std::transform(navMeshInputs.begin(), navMeshInputs.end(), std::back_inserter(data.mNavMeshInputs),
+                       [] (auto& v) { return std::move(v.second); });
+
+        Log(Debug::Info) << "Processed " << esmData.mCells.size() << " cells, added "
+            << data.mObjects.size() << " objects and " << data.mHeightfields.size() << " height fields";
+
+        return data;
+    }
+}

apps/navmeshtool/worldspacedata.hpp

@@ -0,0 +1,97 @@
+#ifndef OPENMW_NAVMESHTOOL_WORLDSPACEDATA_H
+#define OPENMW_NAVMESHTOOL_WORLDSPACEDATA_H
+
+#include <components/bullethelpers/collisionobject.hpp>
+#include <components/detournavigator/tilecachedrecastmeshmanager.hpp>
+#include <components/esm/loadland.hpp>
+#include <components/misc/convert.hpp>
+#include <components/resource/bulletshape.hpp>
+
+#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
+#include <BulletCollision/Gimpact/btBoxCollision.h>
+#include <LinearMath/btVector3.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace ESM
+{
+    class ESMReader;
+}
+
+namespace VFS
+{
+    class Manager;
+}
+
+namespace Resource
+{
+    class BulletShapeManager;
+}
+
+namespace EsmLoader
+{
+    struct EsmData;
+}
+
+namespace DetourNavigator
+{
+    struct Settings;
+}
+
+namespace NavMeshTool
+{
+    using DetourNavigator::TileCachedRecastMeshManager;
+    using DetourNavigator::ObjectTransform;
+
+    struct WorldspaceNavMeshInput
+    {
+        std::string mWorldspace;
+        TileCachedRecastMeshManager mTileCachedRecastMeshManager;
+        btAABB mAabb;
+        bool mAabbInitialized = false;
+
+        explicit WorldspaceNavMeshInput(std::string worldspace, const DetourNavigator::RecastSettings& settings);
+    };
+
+    class BulletObject
+    {
+    public:
+        BulletObject(osg::ref_ptr<Resource::BulletShapeInstance>&& shapeInstance, const ESM::Position& position,
+            float localScaling)
+            : mShapeInstance(std::move(shapeInstance))
+            , mObjectTransform {position, localScaling}
+            , mCollisionObject(BulletHelpers::makeCollisionObject(
+                mShapeInstance->mCollisionShape.get(),
+                Misc::Convert::toBullet(position.asVec3()),
+                Misc::Convert::toBullet(Misc::Convert::makeOsgQuat(position))
+            ))
+        {
+            mShapeInstance->setLocalScaling(btVector3(localScaling, localScaling, localScaling));
+        }
+
+        const osg::ref_ptr<Resource::BulletShapeInstance>& getShapeInstance() const noexcept { return mShapeInstance; }
+        const DetourNavigator::ObjectTransform& getObjectTransform() const noexcept { return mObjectTransform; }
+        btCollisionObject& getCollisionObject() const noexcept { return *mCollisionObject; }
+
+    private:
+        osg::ref_ptr<Resource::BulletShapeInstance> mShapeInstance;
+        DetourNavigator::ObjectTransform mObjectTransform;
+        std::unique_ptr<btCollisionObject> mCollisionObject;
+    };
+
+    struct WorldspaceData
+    {
+        std::vector<std::unique_ptr<WorldspaceNavMeshInput>> mNavMeshInputs;
+        std::vector<BulletObject> mObjects;
+        std::vector<std::unique_ptr<ESM::Land::LandData>> mLandData;
+        std::vector<std::vector<float>> mHeightfields;
+    };
+
+    WorldspaceData gatherWorldspaceData(const DetourNavigator::Settings& settings, std::vector<ESM::ESMReader>& readers,
+        const VFS::Manager& vfs, Resource::BulletShapeManager& bulletShapeManager, const EsmLoader::EsmData& esmData,
+        bool processInteriorCells);
+}
+
+#endif

apps/openmw/mwmechanics/mechanicsmanagerimp.cpp

@@ -788,7 +788,7 @@ namespace MWMechanics
         MWBase::World* world = MWBase::Environment::get().getWorld();
         world->getNavigator()->setUpdatesEnabled(mAI);
         if (mAI)
-           world->getNavigator()->update(world->getPlayerPtr().getRefData().getPosition().asVec3());
+            world->getNavigator()->update(world->getPlayerPtr().getRefData().getPosition().asVec3());
 
         return mAI;
     }

apps/openmw/mwphysics/ptrholder.hpp

@@ -20,7 +20,7 @@ namespace MWPhysics
             mPtr = updated;
         }
 
-        MWWorld::Ptr getPtr()
+        MWWorld::Ptr getPtr() const
         {
             return mPtr;
         }

apps/openmw/mwrender/actorspaths.cpp

@@ -4,6 +4,7 @@
 #include <components/sceneutil/agentpath.hpp>
 #include <components/resource/resourcesystem.hpp>
 #include <components/resource/scenemanager.hpp>
+#include <components/detournavigator/settings.hpp>
 
 #include <osg/PositionAttitudeTransform>
 
@@ -47,7 +48,7 @@ namespace MWRender
         if (group != mGroups.end())
             mRootNode->removeChild(group->second);
 
-        const auto newGroup = SceneUtil::createAgentPathGroup(path, halfExtents, start, end, settings);
+        const auto newGroup = SceneUtil::createAgentPathGroup(path, halfExtents, start, end, settings.mRecast);
         if (newGroup)
         {
             MWBase::Environment::get().getResourceSystem()->getSceneManager()->recreateShaders(newGroup, "debug");

apps/openmw/mwrender/recastmesh.cpp

@@ -54,7 +54,7 @@ namespace MWRender
             if (it->second.mGeneration != tile->second->getGeneration()
                 || it->second.mRevision != tile->second->getRevision())
             {
-                const auto group = SceneUtil::createRecastMeshGroup(*tile->second, settings);
+                const auto group = SceneUtil::createRecastMeshGroup(*tile->second, settings.mRecast);
                 MWBase::Environment::get().getResourceSystem()->getSceneManager()->recreateShaders(group, "debug");
                 group->setNodeMask(Mask_Debug);
                 mRootNode->removeChild(it->second.mValue);
@@ -71,7 +71,7 @@ namespace MWRender
         {
             if (mGroups.count(tile.first))
                 continue;
-            const auto group = SceneUtil::createRecastMeshGroup(*tile.second, settings);
+            const auto group = SceneUtil::createRecastMeshGroup(*tile.second, settings.mRecast);
             MWBase::Environment::get().getResourceSystem()->getSceneManager()->recreateShaders(group, "debug");
             group->setNodeMask(Mask_Debug);
             mGroups.emplace(tile.first, Group {tile.second->getGeneration(), tile.second->getRevision(), group});

apps/openmw/mwworld/scene.cpp

@@ -64,14 +64,23 @@ namespace
                 * osg::Quat(zr, osg::Vec3(0, 0, -1));
     }
 
-    osg::Quat makeNodeRotation(const MWWorld::Ptr& ptr, RotationOrder order)
+    osg::Quat makeInverseNodeRotation(const MWWorld::Ptr& ptr)
     {
         const auto pos = ptr.getRefData().getPosition();
+        return ptr.getClass().isActor() ? makeActorOsgQuat(pos) : makeInversedOrderObjectOsgQuat(pos);
+    }
 
-        const auto rot = ptr.getClass().isActor() ? makeActorOsgQuat(pos)
-            : (order == RotationOrder::inverse ? makeInversedOrderObjectOsgQuat(pos) : Misc::Convert::makeOsgQuat(pos));
+    osg::Quat makeDirectNodeRotation(const MWWorld::Ptr& ptr)
+    {
+        const auto pos = ptr.getRefData().getPosition();
+        return ptr.getClass().isActor() ? makeActorOsgQuat(pos) : Misc::Convert::makeOsgQuat(pos);
+    }
 
-        return rot;
+    osg::Quat makeNodeRotation(const MWWorld::Ptr& ptr, RotationOrder order)
+    {
+        if (order == RotationOrder::inverse)
+            return makeInverseNodeRotation(ptr);
+        return makeDirectNodeRotation(ptr);
     }
 
     void setNodeRotation(const MWWorld::Ptr& ptr, MWRender::RenderingManager& rendering, const osg::Quat &rotation)
@@ -101,7 +110,7 @@ namespace
         }
 
         std::string model = getModel(ptr, rendering.getResourceSystem()->getVFS());
-        const auto rotation = makeNodeRotation(ptr, RotationOrder::direct);
+        const auto rotation = makeDirectNodeRotation(ptr);
 
         const ESM::RefNum& refnum = ptr.getCellRef().getRefNum();
         if (!refnum.hasContentFile() || pagedRefs.find(refnum) == pagedRefs.end())
@@ -128,6 +137,8 @@ namespace
     {
         if (const auto object = physics.getObject(ptr))
         {
+            const DetourNavigator::ObjectTransform objectTransform {ptr.getRefData().getPosition(), ptr.getCellRef().getScale()};
+
             if (ptr.getClass().isDoor() && !ptr.getCellRef().getTeleport())
             {
                 btVector3 aabbMin;
@@ -159,7 +170,7 @@ namespace
 
                 navigator.addObject(
                     DetourNavigator::ObjectId(object),
-                    DetourNavigator::DoorShapes(object->getShapeInstance(), connectionStart, connectionEnd),
+                    DetourNavigator::DoorShapes(object->getShapeInstance(), objectTransform, connectionStart, connectionEnd),
                     transform
                 );
             }
@@ -167,7 +178,7 @@ namespace
             {
                 navigator.addObject(
                     DetourNavigator::ObjectId(object),
-                    DetourNavigator::ObjectShapes(object->getShapeInstance()),
+                    DetourNavigator::ObjectShapes(object->getShapeInstance(), objectTransform),
                     object->getTransform()
                 );
             }
@@ -339,8 +350,7 @@ namespace MWWorld
         if (const auto pathgrid = world->getStore().get<ESM::Pathgrid>().search(*cell->getCell()))
             mNavigator.removePathgrid(*pathgrid);
 
-        const auto player = world->getPlayerPtr();
-        mNavigator.update(player.getRefData().getPosition().asVec3());
+        mNavigator.update(world->getPlayerPtr().getRefData().getPosition().asVec3());
 
         MWBase::Environment::get().getMechanicsManager()->drop (cell);
 
@@ -367,6 +377,8 @@ namespace MWWorld
         const int cellX = cell->getCell()->getGridX();
         const int cellY = cell->getCell()->getGridY();
 
+        mNavigator.setWorldspace(cell->getCell()->mCellId.mWorldspace);
+
         if (cell->getCell()->isExterior())
         {
             osg::ref_ptr<const ESMTerrain::LandObject> land = mRendering.getLandManager()->getLand(cellX, cellY);
@@ -496,10 +508,13 @@ namespace MWWorld
 
     void Scene::playerMoved(const osg::Vec3f &pos)
     {
+        if (mCurrentCell == nullptr)
+            return;
+
         const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr();
         mNavigator.updatePlayerPosition(player.getRefData().getPosition().asVec3());
 
-        if (!mCurrentCell || !mCurrentCell->isExterior())
+        if (!mCurrentCell->isExterior())
             return;
 
         osg::Vec2i newCell = getNewGridCenter(pos, &mCurrentGridCenter);
@@ -875,8 +890,11 @@ namespace MWWorld
             addObject(ptr, *mPhysics, mRendering, mPagedRefs);
             addObject(ptr, *mPhysics, mNavigator);
             MWBase::Environment::get().getWorld()->scaleObject(ptr, ptr.getCellRef().getScale());
-            const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr();
-            mNavigator.update(player.getRefData().getPosition().asVec3());
+            if (mCurrentCell != nullptr)
+            {
+                const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr();
+                mNavigator.update(player.getRefData().getPosition().asVec3());
+            }
         }
         catch (std::exception& e)
         {
@@ -892,8 +910,11 @@ namespace MWWorld
         if (const auto object = mPhysics->getObject(ptr))
         {
             mNavigator.removeObject(DetourNavigator::ObjectId(object));
-            const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr();
-            mNavigator.update(player.getRefData().getPosition().asVec3());
+            if (mCurrentCell != nullptr)
+            {
+                const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr();
+                mNavigator.update(player.getRefData().getPosition().asVec3());
+            }
         }
         else if (mPhysics->getActor(ptr))
         {

apps/openmw/mwworld/worldimp.cpp

@@ -186,8 +186,8 @@ namespace MWWorld
         if (Settings::Manager::getBool("enable", "Navigator"))
         {
             auto navigatorSettings = DetourNavigator::makeSettingsFromSettingsManager();
-            navigatorSettings.mSwimHeightScale = mSwimHeightScale;
-            mNavigator = DetourNavigator::makeNavigator(navigatorSettings);
+            navigatorSettings.mRecast.mSwimHeightScale = mSwimHeightScale;
+            mNavigator = DetourNavigator::makeNavigator(navigatorSettings, userDataPath);
         }
         else
         {
@@ -1524,16 +1524,19 @@ namespace MWWorld
             if (const auto object = mPhysics->getObject(door.first))
                 updateNavigatorObject(*object);
 
-        if (mShouldUpdateNavigator)
+        auto player = getPlayerPtr();
+        if (mShouldUpdateNavigator && player.getCell() != nullptr)
         {
-            mNavigator->update(getPlayerPtr().getRefData().getPosition().asVec3());
+            mNavigator->update(player.getRefData().getPosition().asVec3());
             mShouldUpdateNavigator = false;
         }
     }
 
     void World::updateNavigatorObject(const MWPhysics::Object& object)
     {
-        const DetourNavigator::ObjectShapes shapes(object.getShapeInstance());
+        const MWWorld::Ptr ptr = object.getPtr();
+        const DetourNavigator::ObjectShapes shapes(object.getShapeInstance(),
+            DetourNavigator::ObjectTransform {ptr.getRefData().getPosition(), ptr.getCellRef().getScale()});
         mShouldUpdateNavigator = mNavigator->updateObject(DetourNavigator::ObjectId(&object), shapes, object.getTransform())
             || mShouldUpdateNavigator;
     }

apps/openmw_test_suite/CMakeLists.txt

@@ -41,10 +41,14 @@ if (GTEST_FOUND AND GMOCK_FOUND)
         detournavigator/recastmeshobject.cpp
         detournavigator/navmeshtilescache.cpp
         detournavigator/tilecachedrecastmeshmanager.cpp
-        detournavigator/serialization/binaryreader.cpp
-        detournavigator/serialization/binarywriter.cpp
-        detournavigator/serialization/sizeaccumulator.cpp
-        detournavigator/serialization/integration.cpp
+        detournavigator/navmeshdb.cpp
+        detournavigator/serialization.cpp
+        detournavigator/asyncnavmeshupdater.cpp
+
+        serialization/binaryreader.cpp
+        serialization/binarywriter.cpp
+        serialization/sizeaccumulator.cpp
+        serialization/integration.cpp
 
         settings/parser.cpp
 

apps/openmw_test_suite/detournavigator/asyncnavmeshupdater.cpp

@@ -0,0 +1,201 @@
+#include "settings.hpp"
+
+#include <components/detournavigator/asyncnavmeshupdater.hpp>
+#include <components/detournavigator/makenavmesh.hpp>
+#include <components/detournavigator/serialization.hpp>
+#include <components/loadinglistener/loadinglistener.hpp>
+#include <components/detournavigator/navmeshdbutils.hpp>
+#include <components/detournavigator/dbrefgeometryobject.hpp>
+
+#include <DetourNavMesh.h>
+
+#include <gtest/gtest.h>
+
+#include <map>
+
+namespace
+{
+    using namespace testing;
+    using namespace DetourNavigator;
+    using namespace DetourNavigator::Tests;
+
+    void addHeightFieldPlane(TileCachedRecastMeshManager& recastMeshManager)
+    {
+        const osg::Vec2i cellPosition(0, 0);
+        const int cellSize = 8192;
+        recastMeshManager.addHeightfield(cellPosition, cellSize, HeightfieldPlane {0});
+    }
+
+    struct DetourNavigatorAsyncNavMeshUpdaterTest : Test
+    {
+        Settings mSettings = makeSettings();
+        TileCachedRecastMeshManager mRecastMeshManager {mSettings.mRecast};
+        OffMeshConnectionsManager mOffMeshConnectionsManager {mSettings.mRecast};
+        const osg::Vec3f mAgentHalfExtents {29, 29, 66};
+        const TilePosition mPlayerTile {0, 0};
+        const std::string mWorldspace = "sys::default";
+        Loading::Listener mListener;
+    };
+
+    TEST_F(DetourNavigatorAsyncNavMeshUpdaterTest, for_all_jobs_done_when_empty_wait_should_terminate)
+    {
+        AsyncNavMeshUpdater updater {mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr};
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+    }
+
+    TEST_F(DetourNavigatorAsyncNavMeshUpdaterTest, for_required_tiles_present_when_empty_wait_should_terminate)
+    {
+        AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
+        updater.wait(mListener, WaitConditionType::requiredTilesPresent);
+    }
+
+    TEST_F(DetourNavigatorAsyncNavMeshUpdaterTest, post_should_generate_navmesh_tile)
+    {
+        mRecastMeshManager.setWorldspace(mWorldspace);
+        addHeightFieldPlane(mRecastMeshManager);
+        AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const std::map<TilePosition, ChangeType> changedTiles {{TilePosition {0, 0}, ChangeType::add}};
+        updater.post(mAgentHalfExtents, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        EXPECT_NE(navMeshCacheItem->lockConst()->getImpl().getTileRefAt(0, 0, 0), 0);
+    }
+
+    TEST_F(DetourNavigatorAsyncNavMeshUpdaterTest, repeated_post_should_lead_to_cache_hit)
+    {
+        mRecastMeshManager.setWorldspace(mWorldspace);
+        addHeightFieldPlane(mRecastMeshManager);
+        AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const std::map<TilePosition, ChangeType> changedTiles {{TilePosition {0, 0}, ChangeType::add}};
+        updater.post(mAgentHalfExtents, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        {
+            const auto stats = updater.getStats();
+            ASSERT_EQ(stats.mCache.mGetCount, 1);
+            ASSERT_EQ(stats.mCache.mHitCount, 0);
+        }
+        updater.post(mAgentHalfExtents, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        {
+            const auto stats = updater.getStats();
+            EXPECT_EQ(stats.mCache.mGetCount, 2);
+            EXPECT_EQ(stats.mCache.mHitCount, 1);
+        }
+    }
+
+    TEST_F(DetourNavigatorAsyncNavMeshUpdaterTest, post_for_update_change_type_should_not_update_cache)
+    {
+        mRecastMeshManager.setWorldspace(mWorldspace);
+        addHeightFieldPlane(mRecastMeshManager);
+        AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const std::map<TilePosition, ChangeType> changedTiles {{TilePosition {0, 0}, ChangeType::update}};
+        updater.post(mAgentHalfExtents, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        {
+            const auto stats = updater.getStats();
+            ASSERT_EQ(stats.mCache.mGetCount, 1);
+            ASSERT_EQ(stats.mCache.mHitCount, 0);
+        }
+        updater.post(mAgentHalfExtents, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        {
+            const auto stats = updater.getStats();
+            EXPECT_EQ(stats.mCache.mGetCount, 2);
+            EXPECT_EQ(stats.mCache.mHitCount, 0);
+        }
+    }
+
+    TEST_F(DetourNavigatorAsyncNavMeshUpdaterTest, post_should_write_generated_tile_to_db)
+    {
+        mRecastMeshManager.setWorldspace(mWorldspace);
+        addHeightFieldPlane(mRecastMeshManager);
+        auto db = std::make_unique<NavMeshDb>(":memory:");
+        NavMeshDb* const dbPtr = db.get();
+        AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, std::move(db));
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const TilePosition tilePosition {0, 0};
+        const std::map<TilePosition, ChangeType> changedTiles {{tilePosition, ChangeType::add}};
+        updater.post(mAgentHalfExtents, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        const auto recastMesh = mRecastMeshManager.getMesh(mWorldspace, tilePosition);
+        ASSERT_NE(recastMesh, nullptr);
+        ShapeId nextShapeId {1};
+        const std::vector<DbRefGeometryObject> objects = makeDbRefGeometryObjects(recastMesh->getMeshSources(),
+            [&] (const MeshSource& v) { return resolveMeshSource(*dbPtr, v, nextShapeId); });
+        const auto tile = dbPtr->findTile(mWorldspace, tilePosition, serialize(mSettings.mRecast, *recastMesh, objects));
+        ASSERT_TRUE(tile.has_value());
+        EXPECT_EQ(tile->mTileId, 1);
+        EXPECT_EQ(tile->mVersion, mSettings.mNavMeshVersion);
+    }
+
+    TEST_F(DetourNavigatorAsyncNavMeshUpdaterTest, post_when_writing_to_db_disabled_should_not_write)
+    {
+        mRecastMeshManager.setWorldspace(mWorldspace);
+        addHeightFieldPlane(mRecastMeshManager);
+        auto db = std::make_unique<NavMeshDb>(":memory:");
+        NavMeshDb* const dbPtr = db.get();
+        mSettings.mWriteToNavMeshDb = false;
+        AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, std::move(db));
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const TilePosition tilePosition {0, 0};
+        const std::map<TilePosition, ChangeType> changedTiles {{tilePosition, ChangeType::add}};
+        updater.post(mAgentHalfExtents, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        const auto recastMesh = mRecastMeshManager.getMesh(mWorldspace, tilePosition);
+        ASSERT_NE(recastMesh, nullptr);
+        ShapeId nextShapeId {1};
+        const std::vector<DbRefGeometryObject> objects = makeDbRefGeometryObjects(recastMesh->getMeshSources(),
+            [&] (const MeshSource& v) { return resolveMeshSource(*dbPtr, v, nextShapeId); });
+        const auto tile = dbPtr->findTile(mWorldspace, tilePosition, serialize(mSettings.mRecast, *recastMesh, objects));
+        ASSERT_FALSE(tile.has_value());
+    }
+
+    TEST_F(DetourNavigatorAsyncNavMeshUpdaterTest, post_should_read_from_db_on_cache_miss)
+    {
+        mRecastMeshManager.setWorldspace(mWorldspace);
+        addHeightFieldPlane(mRecastMeshManager);
+        mSettings.mMaxNavMeshTilesCacheSize = 0;
+        AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, std::make_unique<NavMeshDb>(":memory:"));
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const std::map<TilePosition, ChangeType> changedTiles {{TilePosition {0, 0}, ChangeType::add}};
+        updater.post(mAgentHalfExtents, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        {
+            const auto stats = updater.getStats();
+            ASSERT_EQ(stats.mCache.mGetCount, 1);
+            ASSERT_EQ(stats.mCache.mHitCount, 0);
+            ASSERT_TRUE(stats.mDb.has_value());
+            ASSERT_EQ(stats.mDb->mGetTileCount, 1);
+            ASSERT_EQ(stats.mDbGetTileHits, 0);
+        }
+        updater.post(mAgentHalfExtents, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        {
+            const auto stats = updater.getStats();
+            EXPECT_EQ(stats.mCache.mGetCount, 2);
+            EXPECT_EQ(stats.mCache.mHitCount, 0);
+            ASSERT_TRUE(stats.mDb.has_value());
+            EXPECT_EQ(stats.mDb->mGetTileCount, 2);
+            EXPECT_EQ(stats.mDbGetTileHits, 1);
+        }
+    }
+
+    TEST_F(DetourNavigatorAsyncNavMeshUpdaterTest, on_changing_player_tile_post_should_remove_tiles_out_of_range)
+    {
+        mRecastMeshManager.setWorldspace(mWorldspace);
+        addHeightFieldPlane(mRecastMeshManager);
+        AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const std::map<TilePosition, ChangeType> changedTilesAdd {{TilePosition {0, 0}, ChangeType::add}};
+        updater.post(mAgentHalfExtents, navMeshCacheItem, mPlayerTile, mWorldspace, changedTilesAdd);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        ASSERT_NE(navMeshCacheItem->lockConst()->getImpl().getTileRefAt(0, 0, 0), 0);
+        const std::map<TilePosition, ChangeType> changedTilesRemove {{TilePosition {0, 0}, ChangeType::remove}};
+        const TilePosition playerTile(100, 100);
+        updater.post(mAgentHalfExtents, navMeshCacheItem, playerTile, mWorldspace, changedTilesRemove);
+        updater.wait(mListener, WaitConditionType::allJobsDone);
+        EXPECT_EQ(navMeshCacheItem->lockConst()->getImpl().getTileRefAt(0, 0, 0), 0);
+    }
+}

apps/openmw_test_suite/detournavigator/generate.hpp

@@ -0,0 +1,51 @@
+#ifndef OPENMW_TEST_SUITE_DETOURNAVIGATOR_GENERATE_H
+#define OPENMW_TEST_SUITE_DETOURNAVIGATOR_GENERATE_H
+
+#include <algorithm>
+#include <numeric>
+#include <random>
+#include <type_traits>
+
+namespace DetourNavigator
+{
+    namespace Tests
+    {
+        template <class T, class Random>
+        inline auto generateValue(T& value, Random& random)
+            -> std::enable_if_t<sizeof(T) >= 2>
+        {
+            using Distribution = std::conditional_t<
+                std::is_floating_point_v<T>,
+                std::uniform_real_distribution<T>,
+                std::uniform_int_distribution<T>
+            >;
+            Distribution distribution(std::numeric_limits<T>::min(), std::numeric_limits<T>::max());
+            value = distribution(random);
+        }
+
+        template <class T, class Random>
+        inline auto generateValue(T& value, Random& random)
+            -> std::enable_if_t<sizeof(T) == 1>
+        {
+            unsigned short v;
+            generateValue(v, random);
+            value = static_cast<T>(v % 256);
+        }
+
+        template <class Random>
+        inline void generateValue(unsigned char& value, Random& random)
+        {
+            unsigned short v;
+            generateValue(v, random);
+            value = static_cast<unsigned char>(v % 256);
+        }
+
+        template <class I, class Random>
+        inline void generateRange(I begin, I end, Random& random)
+        {
+            std::for_each(begin, end, [&] (auto& v) { generateValue(v, random); });
+        }
+    }
+}
+
+#endif

apps/openmw_test_suite/detournavigator/gettilespositions.cpp

@@ -21,7 +21,7 @@ namespace
 
     struct DetourNavigatorGetTilesPositionsTest : Test
     {
-        Settings mSettings;
+        RecastSettings mSettings;
         std::vector<TilePosition> mTilesPositions;
         CollectTilesPositions mCollect {mTilesPositions};
 

apps/openmw_test_suite/detournavigator/navigator.cpp

@@ -1,8 +1,10 @@
 #include "operators.hpp"
+#include "settings.hpp"
 
 #include <components/detournavigator/navigatorimpl.hpp>
 #include <components/detournavigator/exceptions.hpp>
 #include <components/detournavigator/navigatorutils.hpp>
+#include <components/detournavigator/navmeshdb.hpp>
 #include <components/misc/rng.hpp>
 #include <components/loadinglistener/loadinglistener.hpp>
 #include <components/esm/loadland.hpp>
@@ -31,12 +33,14 @@ namespace
 {
     using namespace testing;
     using namespace DetourNavigator;
+    using namespace DetourNavigator::Tests;
 
     struct DetourNavigatorNavigatorTest : Test
     {
-        Settings mSettings;
+        Settings mSettings = makeSettings();
         std::unique_ptr<Navigator> mNavigator;
         const osg::Vec3f mPlayerPosition;
+        const std::string mWorldspace;
         const osg::Vec3f mAgentHalfExtents;
         osg::Vec3f mStart;
         osg::Vec3f mEnd;
@@ -49,44 +53,18 @@ namespace
         const int mHeightfieldTileSize = ESM::Land::REAL_SIZE / (ESM::Land::LAND_SIZE - 1);
         const float mEndTolerance = 0;
         const btTransform mTransform {btMatrix3x3::getIdentity(), btVector3(256, 256, 0)};
+        const ObjectTransform mObjectTransform {ESM::Position {{256, 256, 0}, {0, 0, 0}}, 0.0f};
 
         DetourNavigatorNavigatorTest()
             : mPlayerPosition(256, 256, 0)
+            , mWorldspace("sys::default")
             , mAgentHalfExtents(29, 29, 66)
             , mStart(52, 460, 1)
             , mEnd(460, 52, 1)
             , mOut(mPath)
             , mStepSize(28.333332061767578125f)
         {
-            mSettings.mEnableWriteRecastMeshToFile = false;
-            mSettings.mEnableWriteNavMeshToFile = false;
-            mSettings.mEnableRecastMeshFileNameRevision = false;
-            mSettings.mEnableNavMeshFileNameRevision = false;
-            mSettings.mBorderSize = 16;
-            mSettings.mCellHeight = 0.2f;
-            mSettings.mCellSize = 0.2f;
-            mSettings.mDetailSampleDist = 6;
-            mSettings.mDetailSampleMaxError = 1;
-            mSettings.mMaxClimb = 34;
-            mSettings.mMaxSimplificationError = 1.3f;
-            mSettings.mMaxSlope = 49;
-            mSettings.mRecastScaleFactor = 0.017647058823529415f;
-            mSettings.mSwimHeightScale = 0.89999997615814208984375f;
-            mSettings.mMaxEdgeLen = 12;
-            mSettings.mMaxNavMeshQueryNodes = 2048;
-            mSettings.mMaxVertsPerPoly = 6;
-            mSettings.mRegionMergeSize = 20;
-            mSettings.mRegionMinSize = 8;
-            mSettings.mTileSize = 64;
-            mSettings.mWaitUntilMinDistanceToPlayer = std::numeric_limits<int>::max();
-            mSettings.mAsyncNavMeshUpdaterThreads = 1;
-            mSettings.mMaxNavMeshTilesCacheSize = 1024 * 1024;
-            mSettings.mMaxPolygonPathSize = 1024;
-            mSettings.mMaxSmoothPathSize = 1024;
-            mSettings.mMaxPolys = 4096;
-            mSettings.mMaxTilesNumber = 512;
-            mSettings.mMinUpdateInterval = std::chrono::milliseconds(50);
-            mNavigator.reset(new NavigatorImpl(mSettings));
+            mNavigator.reset(new NavigatorImpl(mSettings, std::make_unique<NavMeshDb>(":memory:")));
         }
     };
 
@@ -258,7 +236,7 @@ namespace
             Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)
         )) << mPath;
 
-        mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), mTransform);
+        mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance(), mObjectTransform), mTransform);
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -311,7 +289,7 @@ namespace
 
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->addHeightfield(mCellPosition, cellSize, surface);
-        mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), mTransform);
+        mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance(), mObjectTransform), mTransform);
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -346,7 +324,7 @@ namespace
 
         compound.shape().updateChildTransform(0, btTransform(btMatrix3x3::getIdentity(), btVector3(1000, 0, 0)));
 
-        mNavigator->updateObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), mTransform);
+        mNavigator->updateObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance(), mObjectTransform), mTransform);
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -404,8 +382,8 @@ namespace
         heightfield2.shape().setLocalScaling(btVector3(128, 128, 1));
 
         mNavigator->addAgent(mAgentHalfExtents);
-        mNavigator->addObject(ObjectId(&heightfield1.shape()), ObjectShapes(heightfield1.instance()), mTransform);
-        mNavigator->addObject(ObjectId(&heightfield2.shape()), ObjectShapes(heightfield2.instance()), mTransform);
+        mNavigator->addObject(ObjectId(&heightfield1.shape()), ObjectShapes(heightfield1.instance(), mObjectTransform), mTransform);
+        mNavigator->addObject(ObjectId(&heightfield2.shape()), ObjectShapes(heightfield2.instance(), mObjectTransform), mTransform);
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -494,7 +472,7 @@ namespace
         osg::ref_ptr<const Resource::BulletShapeInstance> instance(new Resource::BulletShapeInstance(bulletShape));
 
         mNavigator->addAgent(mAgentHalfExtents);
-        mNavigator->addObject(ObjectId(instance->mCollisionShape.get()), ObjectShapes(instance), mTransform);
+        mNavigator->addObject(ObjectId(instance->mCollisionShape.get()), ObjectShapes(instance, mObjectTransform), mTransform);
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -725,7 +703,7 @@ namespace
         heightfield.shape().setLocalScaling(btVector3(128, 128, 1));
 
         mNavigator->addAgent(mAgentHalfExtents);
-        mNavigator->addObject(ObjectId(&heightfield.shape()), ObjectShapes(heightfield.instance()), mTransform);
+        mNavigator->addObject(ObjectId(&heightfield.shape()), ObjectShapes(heightfield.instance(), mObjectTransform), mTransform);
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -733,7 +711,7 @@ namespace
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
-        mNavigator->addObject(ObjectId(&heightfield.shape()), ObjectShapes(heightfield.instance()), mTransform);
+        mNavigator->addObject(ObjectId(&heightfield.shape()), ObjectShapes(heightfield.instance(), mObjectTransform), mTransform);
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -853,7 +831,7 @@ namespace
     TEST_F(DetourNavigatorNavigatorTest, multiple_threads_should_lock_tiles)
     {
         mSettings.mAsyncNavMeshUpdaterThreads = 2;
-        mNavigator.reset(new NavigatorImpl(mSettings));
+        mNavigator.reset(new NavigatorImpl(mSettings, std::make_unique<NavMeshDb>(":memory:")));
 
         const std::array<float, 5 * 5> heightfieldData {{
             0,   0,    0,    0,    0,
@@ -876,7 +854,7 @@ namespace
         for (std::size_t i = 0; i < boxes.size(); ++i)
         {
             const btTransform transform(btMatrix3x3::getIdentity(), btVector3(shift.x() + i * 10, shift.y() + i * 10, i * 10));
-            mNavigator->addObject(ObjectId(&boxes[i].shape()), ObjectShapes(boxes[i].instance()), transform);
+            mNavigator->addObject(ObjectId(&boxes[i].shape()), ObjectShapes(boxes[i].instance(), mObjectTransform), transform);
         }
 
         std::this_thread::sleep_for(std::chrono::microseconds(1));
@@ -884,7 +862,7 @@ namespace
         for (std::size_t i = 0; i < boxes.size(); ++i)
         {
             const btTransform transform(btMatrix3x3::getIdentity(), btVector3(shift.x() + i * 10 + 1, shift.y() + i * 10 + 1, i * 10 + 1));
-            mNavigator->updateObject(ObjectId(&boxes[i].shape()), ObjectShapes(boxes[i].instance()), transform);
+            mNavigator->updateObject(ObjectId(&boxes[i].shape()), ObjectShapes(boxes[i].instance(), mObjectTransform), transform);
         }
 
         mNavigator->update(mPlayerPosition);
@@ -930,7 +908,7 @@ namespace
         for (std::size_t i = 0; i < shapes.size(); ++i)
         {
             const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32, i * 32, i * 32));
-            mNavigator->addObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance()), transform);
+            mNavigator->addObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance(), mObjectTransform), transform);
         }
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@@ -939,7 +917,7 @@ namespace
         for (std::size_t i = 0; i < shapes.size(); ++i)
         {
             const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32 + 1, i * 32 + 1, i * 32 + 1));
-            mNavigator->updateObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance()), transform);
+            mNavigator->updateObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance(), mObjectTransform), transform);
         }
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@@ -947,7 +925,7 @@ namespace
         for (std::size_t i = 0; i < shapes.size(); ++i)
         {
             const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32 + 2, i * 32 + 2, i * 32 + 2));
-            mNavigator->updateObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance()), transform);
+            mNavigator->updateObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance(), mObjectTransform), transform);
         }
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@@ -1001,15 +979,15 @@ namespace
 
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->addHeightfield(mCellPosition, cellSize, surface);
-        mNavigator->addObject(ObjectId(&oscillatingBox.shape()), ObjectShapes(oscillatingBox.instance()),
+        mNavigator->addObject(ObjectId(&oscillatingBox.shape()), ObjectShapes(oscillatingBox.instance(), mObjectTransform),
                               btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition));
         // add this box to make navmesh bound box independent from oscillatingBoxShape rotations
-        mNavigator->addObject(ObjectId(&borderBox.shape()), ObjectShapes(borderBox.instance()),
+        mNavigator->addObject(ObjectId(&borderBox.shape()), ObjectShapes(borderBox.instance(), mObjectTransform),
                               btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition + btVector3(0, 0, 200)));
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
-        const Version expectedVersion {1, 1};
+        const Version expectedVersion {1, 4};
 
         const auto navMeshes = mNavigator->getNavMeshes();
         ASSERT_EQ(navMeshes.size(), 1);
@@ -1019,7 +997,7 @@ namespace
         {
             const btTransform transform(btQuaternion(btVector3(0, 0, 1), n * 2 * osg::PI / 10),
                                         oscillatingBoxShapePosition);
-            mNavigator->updateObject(ObjectId(&oscillatingBox.shape()), ObjectShapes(oscillatingBox.instance()), transform);
+            mNavigator->updateObject(ObjectId(&oscillatingBox.shape()), ObjectShapes(oscillatingBox.instance(), mObjectTransform), transform);
             mNavigator->update(mPlayerPosition);
             mNavigator->wait(mListener, WaitConditionType::allJobsDone);
         }
@@ -1085,7 +1063,7 @@ namespace
 
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->addHeightfield(mCellPosition, cellSize, surface);
-        mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), mTransform);
+        mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance(), mObjectTransform), mTransform);
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -1124,7 +1102,7 @@ namespace
 
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->addHeightfield(mCellPosition, cellSize, surface);
-        mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), mTransform);
+        mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance(), mObjectTransform), mTransform);
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 

apps/openmw_test_suite/detournavigator/navmeshdb.cpp

@@ -0,0 +1,112 @@
+#include "generate.hpp"
+
+#include <components/detournavigator/navmeshdb.hpp>
+#include <components/esm/cellid.hpp>
+
+#include <DetourAlloc.h>
+
+#include <gtest/gtest.h>
+#include <gmock/gmock.h>
+
+#include <numeric>
+#include <random>
+
+namespace
+{
+    using namespace testing;
+    using namespace DetourNavigator;
+    using namespace DetourNavigator::Tests;
+
+    struct Tile
+    {
+        std::string mWorldspace;
+        TilePosition mTilePosition;
+        std::vector<std::byte> mInput;
+        std::vector<std::byte> mData;
+    };
+
+    struct DetourNavigatorNavMeshDbTest : Test
+    {
+        NavMeshDb mDb {":memory:"};
+        std::minstd_rand mRandom;
+
+        std::vector<std::byte> generateData()
+        {
+            std::vector<std::byte> data(32);
+            generateRange(data.begin(), data.end(), mRandom);
+            return data;
+        }
+
+        Tile insertTile(TileId tileId, TileVersion version)
+        {
+            std::string worldspace = "sys::default";
+            const TilePosition tilePosition {3, 4};
+            std::vector<std::byte> input = generateData();
+            std::vector<std::byte> data = generateData();
+            EXPECT_EQ(mDb.insertTile(tileId, worldspace, tilePosition, version, input, data), 1);
+            return {std::move(worldspace), tilePosition, std::move(input), std::move(data)};
+        }
+    };
+
+    TEST_F(DetourNavigatorNavMeshDbTest, get_max_tile_id_for_empty_db_should_return_zero)
+    {
+        EXPECT_EQ(mDb.getMaxTileId(), TileId {0});
+    }
+
+    TEST_F(DetourNavigatorNavMeshDbTest, inserted_tile_should_be_found_by_key)
+    {
+        const TileId tileId {146};
+        const TileVersion version {1};
+        const auto [worldspace, tilePosition, input, data] = insertTile(tileId, version);
+        const auto result = mDb.findTile(worldspace, tilePosition, input);
+        ASSERT_TRUE(result.has_value());
+        EXPECT_EQ(result->mTileId, tileId);
+        EXPECT_EQ(result->mVersion, version);
+    }
+
+    TEST_F(DetourNavigatorNavMeshDbTest, inserted_tile_should_change_max_tile_id)
+    {
+        insertTile(TileId {53}, TileVersion {1});
+        EXPECT_EQ(mDb.getMaxTileId(), TileId {53});
+    }
+
+    TEST_F(DetourNavigatorNavMeshDbTest, updated_tile_should_change_data)
+    {
+        const TileId tileId {13};
+        const TileVersion version {1};
+        auto [worldspace, tilePosition, input, data] = insertTile(tileId, version);
+        generateRange(data.begin(), data.end(), mRandom);
+        ASSERT_EQ(mDb.updateTile(tileId, version, data), 1);
+        const auto row = mDb.getTileData(worldspace, tilePosition, input);
+        ASSERT_TRUE(row.has_value());
+        EXPECT_EQ(row->mTileId, tileId);
+        EXPECT_EQ(row->mVersion, version);
+        ASSERT_FALSE(row->mData.empty());
+        EXPECT_EQ(row->mData, data);
+    }
+
+    TEST_F(DetourNavigatorNavMeshDbTest, on_inserted_duplicate_should_throw_exception)
+    {
+        const TileId tileId {53};
+        const TileVersion version {1};
+        const std::string worldspace = "sys::default";
+        const TilePosition tilePosition {3, 4};
+        const std::vector<std::byte> input = generateData();
+        const std::vector<std::byte> data = generateData();
+        ASSERT_EQ(mDb.insertTile(tileId, worldspace, tilePosition, version, input, data), 1);
+        EXPECT_THROW(mDb.insertTile(tileId, worldspace, tilePosition, version, input, data), std::runtime_error);
+    }
+
+    TEST_F(DetourNavigatorNavMeshDbTest, inserted_duplicate_leaves_db_in_correct_state)
+    {
+        const TileId tileId {53};
+        const TileVersion version {1};
+        const std::string worldspace = "sys::default";
+        const TilePosition tilePosition {3, 4};
+        const std::vector<std::byte> input = generateData();
+        const std::vector<std::byte> data = generateData();
+        ASSERT_EQ(mDb.insertTile(tileId, worldspace, tilePosition, version, input, data), 1);
+        EXPECT_THROW(mDb.insertTile(tileId, worldspace, tilePosition, version, input, data), std::runtime_error);
+        EXPECT_NO_THROW(insertTile(TileId {54}, version));
+    }
+}

apps/openmw_test_suite/detournavigator/navmeshtilescache.cpp

@@ -1,4 +1,5 @@
 #include "operators.hpp"
+#include "generate.hpp"
 
 #include <components/detournavigator/navmeshtilescache.hpp>
 #include <components/detournavigator/exceptions.hpp>
@@ -21,23 +22,17 @@ namespace
 {
     using namespace testing;
     using namespace DetourNavigator;
+    using namespace DetourNavigator::Tests;
 
-    void* permRecastAlloc(int size)
-    {
-        void* result = rcAlloc(static_cast<std::size_t>(size), RC_ALLOC_PERM);
-        if (result == nullptr)
-            throw std::bad_alloc();
-        return result;
-    }
-
-    template <class T>
-    void generate(T*& values, int size)
+    template <class T, class Random>
+    void generateRecastArray(T*& values, int size, Random& random)
     {
         values = static_cast<T*>(permRecastAlloc(size * sizeof(T)));
-        std::generate_n(values, static_cast<std::size_t>(size), [] { return static_cast<T>(std::rand()); });
+        generateRange(values, values + static_cast<std::ptrdiff_t>(size), random);
     }
 
-    void generate(rcPolyMesh& value, int size)
+    template <class Random>
+    void generate(rcPolyMesh& value, int size, Random& random)
     {
         value.nverts = size;
         value.maxpolys = size;
@@ -45,88 +40,49 @@ namespace
         value.npolys = size;
         rcVcopy(value.bmin, osg::Vec3f(-1, -2, -3).ptr());
         rcVcopy(value.bmax, osg::Vec3f(3, 2, 1).ptr());
-        value.cs = 1.0f / (std::rand() % 999 + 1);
-        value.ch = 1.0f / (std::rand() % 999 + 1);
-        value.borderSize = std::rand();
-        value.maxEdgeError = 1.0f / (std::rand() % 999 + 1);
-        generate(value.verts, getVertsLength(value));
-        generate(value.polys, getPolysLength(value));
-        generate(value.regs, getRegsLength(value));
-        generate(value.flags, getFlagsLength(value));
-        generate(value.areas, getAreasLength(value));
+        generateValue(value.cs, random);
+        generateValue(value.ch, random);
+        generateValue(value.borderSize, random);
+        generateValue(value.maxEdgeError, random);
+        generateRecastArray(value.verts, getVertsLength(value), random);
+        generateRecastArray(value.polys, getPolysLength(value), random);
+        generateRecastArray(value.regs, getRegsLength(value), random);
+        generateRecastArray(value.flags, getFlagsLength(value), random);
+        generateRecastArray(value.areas, getAreasLength(value), random);
     }
 
-    void generate(rcPolyMeshDetail& value, int size)
+    template <class Random>
+    void generate(rcPolyMeshDetail& value, int size, Random& random)
     {
         value.nmeshes = size;
         value.nverts = size;
         value.ntris = size;
-        generate(value.meshes, getMeshesLength(value));
-        generate(value.verts, getVertsLength(value));
-        generate(value.tris, getTrisLength(value));
+        generateRecastArray(value.meshes, getMeshesLength(value), random);
+        generateRecastArray(value.verts, getVertsLength(value), random);
+        generateRecastArray(value.tris, getTrisLength(value), random);
     }
 
-    void generate(PreparedNavMeshData& value, int size)
+    template <class Random>
+    void generate(PreparedNavMeshData& value, int size, Random& random)
     {
-        value.mUserId = std::rand();
-        value.mCellHeight = 1.0f / (std::rand() % 999 + 1);
-        value.mCellSize = 1.0f / (std::rand() % 999 + 1);
-        generate(value.mPolyMesh, size);
-        generate(value.mPolyMeshDetail, size);
+        generateValue(value.mUserId, random);
+        generateValue(value.mCellHeight, random);
+        generateValue(value.mCellSize, random);
+        generate(value.mPolyMesh, size, random);
+        generate(value.mPolyMeshDetail, size, random);
     }
 
     std::unique_ptr<PreparedNavMeshData> makePeparedNavMeshData(int size)
     {
+        std::minstd_rand random;
         auto result = std::make_unique<PreparedNavMeshData>();
-        generate(*result, size);
+        generate(*result, size, random);
         return result;
     }
 
-    template <class T>
-    void clone(const T* src, T*& dst, std::size_t size)
-    {
-        dst = static_cast<T*>(permRecastAlloc(static_cast<int>(size) * sizeof(T)));
-        std::memcpy(dst, src, size * sizeof(T));
-    }
-
-    void clone(const rcPolyMesh& src, rcPolyMesh& dst)
-    {
-        dst.nverts = src.nverts;
-        dst.npolys = src.npolys;
-        dst.maxpolys = src.maxpolys;
-        dst.nvp = src.nvp;
-        rcVcopy(dst.bmin, src.bmin);
-        rcVcopy(dst.bmax, src.bmax);
-        dst.cs = src.cs;
-        dst.ch = src.ch;
-        dst.borderSize = src.borderSize;
-        dst.maxEdgeError = src.maxEdgeError;
-        clone(src.verts, dst.verts, getVertsLength(dst));
-        clone(src.polys, dst.polys, getPolysLength(dst));
-        clone(src.regs, dst.regs, getRegsLength(dst));
-        clone(src.flags, dst.flags, getFlagsLength(dst));
-        clone(src.areas, dst.areas, getAreasLength(dst));
-    }
-
-    void clone(const rcPolyMeshDetail& src, rcPolyMeshDetail& dst)
-    {
-        dst.nmeshes = src.nmeshes;
-        dst.nverts = src.nverts;
-        dst.ntris = src.ntris;
-        clone(src.meshes, dst.meshes, getMeshesLength(dst));
-        clone(src.verts, dst.verts, getVertsLength(dst));
-        clone(src.tris, dst.tris, getTrisLength(dst));
-    }
-
     std::unique_ptr<PreparedNavMeshData> clone(const PreparedNavMeshData& value)
     {
-        auto result = std::make_unique<PreparedNavMeshData>();
-        result->mUserId = value.mUserId;
-        result->mCellHeight = value.mCellHeight;
-        result->mCellSize = value.mCellSize;
-        clone(value.mPolyMesh, result->mPolyMesh);
-        clone(value.mPolyMeshDetail, result->mPolyMeshDetail);
-        return result;
+        return std::make_unique<PreparedNavMeshData>(value);
     }
 
     Mesh makeMesh()
@@ -147,7 +103,8 @@ namespace
         const std::vector<CellWater> mWater {};
         const std::vector<Heightfield> mHeightfields {};
         const std::vector<FlatHeightfield> mFlatHeightfields {};
-        const RecastMesh mRecastMesh {mGeneration, mRevision, mMesh, mWater, mHeightfields, mFlatHeightfields};
+        const std::vector<MeshSource> mSources {};
+        const RecastMesh mRecastMesh {mGeneration, mRevision, mMesh, mWater, mHeightfields, mFlatHeightfields, mSources};
         std::unique_ptr<PreparedNavMeshData> mPreparedNavMeshData {makePeparedNavMeshData(3)};
 
         const std::size_t mRecastMeshSize = sizeof(mRecastMesh) + getSize(mRecastMesh);
@@ -235,7 +192,7 @@ namespace
         const std::size_t maxSize = 1;
         NavMeshTilesCache cache(maxSize);
         const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
-        const RecastMesh unexistentRecastMesh {mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields};
+        const RecastMesh unexistentRecastMesh(mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields, mSources);
 
         cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, std::move(mPreparedNavMeshData));
         EXPECT_FALSE(cache.get(mAgentHalfExtents, mTilePosition, unexistentRecastMesh));
@@ -247,7 +204,7 @@ namespace
         NavMeshTilesCache cache(maxSize);
 
         const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
-        const RecastMesh anotherRecastMesh {mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields};
+        const RecastMesh anotherRecastMesh(mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields, mSources);
         auto anotherPreparedNavMeshData = makePeparedNavMeshData(3);
         const auto copy = clone(*anotherPreparedNavMeshData);
 
@@ -265,7 +222,7 @@ namespace
         NavMeshTilesCache cache(maxSize);
 
         const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
-        const RecastMesh anotherRecastMesh {mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields};
+        const RecastMesh anotherRecastMesh(mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields, mSources);
         auto anotherPreparedNavMeshData = makePeparedNavMeshData(3);
 
         const auto value = cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh,
@@ -281,13 +238,13 @@ namespace
         const auto copy = clone(*mPreparedNavMeshData);
 
         const std::vector<CellWater> leastRecentlySetWater(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
-        const RecastMesh leastRecentlySetRecastMesh {mGeneration, mRevision, mMesh, leastRecentlySetWater,
-                    mHeightfields, mFlatHeightfields};
+        const RecastMesh leastRecentlySetRecastMesh(mGeneration, mRevision, mMesh, leastRecentlySetWater,
+                    mHeightfields, mFlatHeightfields, mSources);
         auto leastRecentlySetData = makePeparedNavMeshData(3);
 
         const std::vector<CellWater> mostRecentlySetWater(1, CellWater {osg::Vec2i(), Water {2, 0.0f}});
-        const RecastMesh mostRecentlySetRecastMesh {mGeneration, mRevision, mMesh, mostRecentlySetWater,
-                    mHeightfields, mFlatHeightfields};
+        const RecastMesh mostRecentlySetRecastMesh(mGeneration, mRevision, mMesh, mostRecentlySetWater,
+                    mHeightfields, mFlatHeightfields, mSources);
         auto mostRecentlySetData = makePeparedNavMeshData(3);
 
         ASSERT_TRUE(cache.set(mAgentHalfExtents, mTilePosition, leastRecentlySetRecastMesh,
@@ -309,14 +266,14 @@ namespace
         NavMeshTilesCache cache(maxSize);
 
         const std::vector<CellWater> leastRecentlyUsedWater(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
-        const RecastMesh leastRecentlyUsedRecastMesh {mGeneration, mRevision, mMesh, leastRecentlyUsedWater,
-                    mHeightfields, mFlatHeightfields};
+        const RecastMesh leastRecentlyUsedRecastMesh(mGeneration, mRevision, mMesh, leastRecentlyUsedWater,
+                    mHeightfields, mFlatHeightfields, mSources);
         auto leastRecentlyUsedData = makePeparedNavMeshData(3);
         const auto leastRecentlyUsedCopy = clone(*leastRecentlyUsedData);
 
         const std::vector<CellWater> mostRecentlyUsedWater(1, CellWater {osg::Vec2i(), Water {2, 0.0f}});
-        const RecastMesh mostRecentlyUsedRecastMesh {mGeneration, mRevision, mMesh, mostRecentlyUsedWater,
-                    mHeightfields, mFlatHeightfields};
+        const RecastMesh mostRecentlyUsedRecastMesh(mGeneration, mRevision, mMesh, mostRecentlyUsedWater,
+                    mHeightfields, mFlatHeightfields, mSources);
         auto mostRecentlyUsedData = makePeparedNavMeshData(3);
         const auto mostRecentlyUsedCopy = clone(*mostRecentlyUsedData);
 
@@ -350,8 +307,8 @@ namespace
         NavMeshTilesCache cache(maxSize);
 
         const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
-        const RecastMesh tooLargeRecastMesh {mGeneration, mRevision, mMesh, water,
-                    mHeightfields, mFlatHeightfields};
+        const RecastMesh tooLargeRecastMesh(mGeneration, mRevision, mMesh, water,
+                    mHeightfields, mFlatHeightfields, mSources);
         auto tooLargeData = makePeparedNavMeshData(10);
 
         cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, std::move(mPreparedNavMeshData));
@@ -365,13 +322,13 @@ namespace
         NavMeshTilesCache cache(maxSize);
 
         const std::vector<CellWater> anotherWater(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
-        const RecastMesh anotherRecastMesh {mGeneration, mRevision, mMesh, anotherWater,
-                    mHeightfields, mFlatHeightfields};
+        const RecastMesh anotherRecastMesh(mGeneration, mRevision, mMesh, anotherWater,
+                    mHeightfields, mFlatHeightfields, mSources);
         auto anotherData = makePeparedNavMeshData(3);
 
         const std::vector<CellWater> tooLargeWater(1, CellWater {osg::Vec2i(), Water {2, 0.0f}});
-        const RecastMesh tooLargeRecastMesh {mGeneration, mRevision, mMesh, tooLargeWater,
-                    mHeightfields, mFlatHeightfields};
+        const RecastMesh tooLargeRecastMesh(mGeneration, mRevision, mMesh, tooLargeWater,
+                    mHeightfields, mFlatHeightfields, mSources);
         auto tooLargeData = makePeparedNavMeshData(10);
 
         const auto value = cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh,
@@ -391,7 +348,7 @@ namespace
         NavMeshTilesCache cache(maxSize);
 
         const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
-        const RecastMesh anotherRecastMesh {mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields};
+        const RecastMesh anotherRecastMesh(mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields, mSources);
         auto anotherData = makePeparedNavMeshData(3);
 
         const auto firstCopy = cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, std::move(mPreparedNavMeshData));
@@ -410,7 +367,7 @@ namespace
         NavMeshTilesCache cache(maxSize);
 
         const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
-        const RecastMesh anotherRecastMesh {mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields};
+        const RecastMesh anotherRecastMesh(mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields, mSources);
         auto anotherData = makePeparedNavMeshData(3);
 
         cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, std::move(mPreparedNavMeshData));

apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp

@@ -48,35 +48,6 @@ namespace DetourNavigator
         };
         return tie(lhs) == tie(rhs);
     }
-
-    static inline std::ostream& operator<<(std::ostream& s, const Water& v)
-    {
-        return s << "Water {" << v.mCellSize << ", " << v.mLevel << "}";
-    }
-
-    static inline std::ostream& operator<<(std::ostream& s, const CellWater& v)
-    {
-        return s << "CellWater {" << v.mCellPosition << ", " << v.mWater << "}";
-    }
-
-    static inline std::ostream& operator<<(std::ostream& s, const FlatHeightfield& v)
-    {
-        return s << "FlatHeightfield {" << v.mCellPosition << ", " << v.mCellSize << ", " << v.mHeight << "}";
-    }
-
-    static inline std::ostream& operator<<(std::ostream& s, const Heightfield& v)
-    {
-        s << "Heightfield {.mCellPosition=" << v.mCellPosition
-          << ", .mCellSize=" << v.mCellSize
-          << ", .mLength=" << static_cast<int>(v.mLength)
-          << ", .mMinHeight=" << v.mMinHeight
-          << ", .mMaxHeight=" << v.mMaxHeight
-          << ", .mHeights={";
-        for (float h : v.mHeights)
-            s << h << ", ";
-        s << "}";
-        return s << ", .mOriginalSize=" << v.mOriginalSize << "}";
-    }
 }
 
 namespace
@@ -89,6 +60,8 @@ namespace
         TileBounds mBounds;
         const std::size_t mGeneration = 0;
         const std::size_t mRevision = 0;
+        const osg::ref_ptr<const Resource::BulletShape> mSource {nullptr};
+        const ObjectTransform mObjectTransform {ESM::Position {{0, 0, 0}, {0, 0, 0}}, 0.0f};
 
         DetourNavigatorRecastMeshBuilderTest()
         {
@@ -115,7 +88,8 @@ namespace
         btBvhTriangleMeshShape shape(&mesh, true);
 
         RecastMeshBuilder builder(mBounds);
-        builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
+        builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(),
+                          AreaType_ground, mSource, mObjectTransform);
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
             -1, -1, 0,
@@ -135,7 +109,7 @@ namespace
         builder.addObject(
             static_cast<const btCollisionShape&>(shape),
             btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
-            AreaType_ground
+            AreaType_ground, mSource, mObjectTransform
         );
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
@@ -152,7 +126,8 @@ namespace
         const std::array<btScalar, 4> heightfieldData {{0, 0, 0, 0}};
         btHeightfieldTerrainShape shape(2, 2, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
         RecastMeshBuilder builder(mBounds);
-        builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
+        builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(),
+                          AreaType_ground, mSource, mObjectTransform);
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
             -0.5, -0.5, 0,
@@ -168,7 +143,8 @@ namespace
     {
         btBoxShape shape(btVector3(1, 1, 2));
         RecastMeshBuilder builder(mBounds);
-        builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
+        builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(),
+                          AreaType_ground, mSource, mObjectTransform);
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
             -1, -1, -2,
@@ -214,7 +190,7 @@ namespace
         builder.addObject(
             static_cast<const btCollisionShape&>(shape),
             btTransform::getIdentity(),
-            AreaType_ground
+            AreaType_ground, mSource, mObjectTransform
         );
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
@@ -261,7 +237,7 @@ namespace
         builder.addObject(
             static_cast<const btCollisionShape&>(shape),
             btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
-            AreaType_ground
+            AreaType_ground, mSource, mObjectTransform
         );
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
@@ -285,7 +261,7 @@ namespace
         builder.addObject(
             static_cast<const btCollisionShape&>(shape),
             btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
-            AreaType_ground
+            AreaType_ground, mSource, mObjectTransform
         );
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
@@ -307,7 +283,7 @@ namespace
         builder.addObject(
             static_cast<const btCollisionShape&>(shape),
             btTransform::getIdentity(),
-            AreaType_ground
+            AreaType_ground, mSource, mObjectTransform
         );
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
@@ -334,7 +310,7 @@ namespace
         builder.addObject(
             static_cast<const btCollisionShape&>(shape),
             btTransform::getIdentity(),
-            AreaType_ground
+            AreaType_ground, mSource, mObjectTransform
         );
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
@@ -359,7 +335,7 @@ namespace
             static_cast<const btCollisionShape&>(shape),
             btTransform(btQuaternion(btVector3(1, 0, 0),
             static_cast<btScalar>(-osg::PI_4))),
-            AreaType_ground
+            AreaType_ground, mSource, mObjectTransform
         );
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_THAT(recastMesh->getMesh().getVertices(), Pointwise(FloatNear(1e-5), std::vector<float>({
@@ -384,7 +360,7 @@ namespace
             static_cast<const btCollisionShape&>(shape),
             btTransform(btQuaternion(btVector3(0, 1, 0),
             static_cast<btScalar>(osg::PI_4))),
-            AreaType_ground
+            AreaType_ground, mSource, mObjectTransform
         );
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_THAT(recastMesh->getMesh().getVertices(), Pointwise(FloatNear(1e-5), std::vector<float>({
@@ -409,7 +385,7 @@ namespace
             static_cast<const btCollisionShape&>(shape),
             btTransform(btQuaternion(btVector3(0, 0, 1),
             static_cast<btScalar>(osg::PI_4))),
-            AreaType_ground
+            AreaType_ground, mSource, mObjectTransform
         );
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_THAT(recastMesh->getMesh().getVertices(), Pointwise(FloatNear(1e-5), std::vector<float>({
@@ -433,12 +409,12 @@ namespace
         builder.addObject(
             static_cast<const btCollisionShape&>(shape1),
             btTransform::getIdentity(),
-            AreaType_ground
+            AreaType_ground, mSource, mObjectTransform
         );
         builder.addObject(
             static_cast<const btCollisionShape&>(shape2),
             btTransform::getIdentity(),
-            AreaType_null
+            AreaType_null, mSource, mObjectTransform
         );
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
@@ -471,7 +447,7 @@ namespace
         btBvhTriangleMeshShape shape(&mesh, true);
 
         RecastMeshBuilder builder(mBounds);
-        builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
+        builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground, mSource, mObjectTransform);
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
         EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
             -1, -1, 0,

apps/openmw_test_suite/detournavigator/recastmeshobject.cpp

@@ -1,6 +1,7 @@
 #include "operators.hpp"
 
 #include <components/detournavigator/recastmeshobject.hpp>
+#include <components/misc/convert.hpp>
 
 #include <BulletCollision/CollisionShapes/btBoxShape.h>
 #include <BulletCollision/CollisionShapes/btCompoundShape.h>
@@ -15,10 +16,11 @@ namespace
     struct DetourNavigatorRecastMeshObjectTest : Test
     {
         btBoxShape mBoxShapeImpl {btVector3(1, 2, 3)};
-        CollisionShape mBoxShape {nullptr, mBoxShapeImpl};
+        const ObjectTransform mObjectTransform {ESM::Position {{1, 2, 3}, {1, 2, 3}}, 0.5f};
+        CollisionShape mBoxShape {nullptr, mBoxShapeImpl, mObjectTransform};
         btCompoundShape mCompoundShapeImpl {true};
-        CollisionShape mCompoundShape {nullptr, mCompoundShapeImpl};
-        btTransform mTransform {btQuaternion(btVector3(1, 2, 3), 1), btVector3(1, 2, 3)};
+        CollisionShape mCompoundShape {nullptr, mCompoundShapeImpl, mObjectTransform};
+        btTransform mTransform {Misc::Convert::makeBulletTransform(mObjectTransform.mPosition)};
 
         DetourNavigatorRecastMeshObjectTest()
         {

apps/openmw_test_suite/detournavigator/settings.hpp

@@ -0,0 +1,50 @@
+#ifndef OPENMW_TEST_SUITE_DETOURNAVIGATOR_SETTINGS_H
+#define OPENMW_TEST_SUITE_DETOURNAVIGATOR_SETTINGS_H
+
+#include <components/detournavigator/settings.hpp>
+
+#include <chrono>
+#include <limits>
+
+namespace DetourNavigator
+{
+    namespace Tests
+    {
+        inline Settings makeSettings()
+        {
+            Settings result;
+            result.mEnableWriteRecastMeshToFile = false;
+            result.mEnableWriteNavMeshToFile = false;
+            result.mEnableRecastMeshFileNameRevision = false;
+            result.mEnableNavMeshFileNameRevision = false;
+            result.mRecast.mBorderSize = 16;
+            result.mRecast.mCellHeight = 0.2f;
+            result.mRecast.mCellSize = 0.2f;
+            result.mRecast.mDetailSampleDist = 6;
+            result.mRecast.mDetailSampleMaxError = 1;
+            result.mRecast.mMaxClimb = 34;
+            result.mRecast.mMaxSimplificationError = 1.3f;
+            result.mRecast.mMaxSlope = 49;
+            result.mRecast.mRecastScaleFactor = 0.017647058823529415f;
+            result.mRecast.mSwimHeightScale = 0.89999997615814208984375f;
+            result.mRecast.mMaxEdgeLen = 12;
+            result.mDetour.mMaxNavMeshQueryNodes = 2048;
+            result.mRecast.mMaxVertsPerPoly = 6;
+            result.mRecast.mRegionMergeArea = 400;
+            result.mRecast.mRegionMinArea = 64;
+            result.mRecast.mTileSize = 64;
+            result.mWaitUntilMinDistanceToPlayer = std::numeric_limits<int>::max();
+            result.mAsyncNavMeshUpdaterThreads = 1;
+            result.mMaxNavMeshTilesCacheSize = 1024 * 1024;
+            result.mDetour.mMaxPolygonPathSize = 1024;
+            result.mDetour.mMaxSmoothPathSize = 1024;
+            result.mDetour.mMaxPolys = 4096;
+            result.mMaxTilesNumber = 512;
+            result.mMinUpdateInterval = std::chrono::milliseconds(50);
+            result.mWriteToNavMeshDb = true;
+            return result;
+        }
+    }
+}
+
+#endif

apps/openmw_test_suite/detournavigator/settingsutils.cpp

@@ -11,7 +11,7 @@ namespace
 
     struct DetourNavigatorGetTilePositionTest : Test
     {
-        Settings mSettings;
+        RecastSettings mSettings;
 
         DetourNavigatorGetTilePositionTest()
         {
@@ -47,7 +47,7 @@ namespace
 
     struct DetourNavigatorMakeTileBoundsTest : Test
     {
-        Settings mSettings;
+        RecastSettings mSettings;
 
         DetourNavigatorMakeTileBoundsTest()
         {

apps/openmw_test_suite/detournavigator/tilecachedrecastmeshmanager.cpp

@@ -15,8 +15,11 @@ namespace
 
     struct DetourNavigatorTileCachedRecastMeshManagerTest : Test
     {
-        Settings mSettings;
+        RecastSettings mSettings;
         std::vector<TilePosition> mChangedTiles;
+        const ObjectTransform mObjectTransform {ESM::Position {{0, 0, 0}, {0, 0, 0}}, 0.0f};
+        const osg::ref_ptr<const Resource::BulletShape> mShape = new Resource::BulletShape;
+        const osg::ref_ptr<const Resource::BulletShapeInstance> mInstance = new Resource::BulletShapeInstance(mShape);
 
         DetourNavigatorTileCachedRecastMeshManagerTest()
         {
@@ -35,7 +38,7 @@ namespace
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, get_mesh_for_empty_should_return_nullptr)
     {
         TileCachedRecastMeshManager manager(mSettings);
-        EXPECT_EQ(manager.getMesh(TilePosition(0, 0)), nullptr);
+        EXPECT_EQ(manager.getMesh("worldspace", TilePosition(0, 0)), nullptr);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, get_revision_for_empty_should_return_zero)
@@ -56,7 +59,7 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         EXPECT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
     }
 
@@ -64,7 +67,7 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         EXPECT_FALSE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
     }
@@ -72,12 +75,13 @@ namespace
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_object_should_add_tiles)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
         for (int x = -1; x < 1; ++x)
             for (int y = -1; y < 1; ++y)
-                ASSERT_NE(manager.getMesh(TilePosition(x, y)), nullptr);
+                ASSERT_NE(manager.getMesh("worldspace", TilePosition(x, y)), nullptr);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, update_object_for_changed_object_should_return_changed_tiles)
@@ -85,7 +89,7 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
         const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
         EXPECT_TRUE(manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground,
                                          [&] (const auto& v) { onChangedTile(v); }));
@@ -100,7 +104,7 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         EXPECT_FALSE(manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground,
                                           [&] (const auto& v) { onChangedTile(v); }));
@@ -110,90 +114,98 @@ namespace
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, get_mesh_after_add_object_should_return_recast_mesh_for_each_used_tile)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
-        EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(0, 0)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(-1, -1)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(-1, 0)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(0, -1)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(0, 0)), nullptr);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, get_mesh_after_add_object_should_return_nullptr_for_unused_tile)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
-        EXPECT_EQ(manager.getMesh(TilePosition(1, 0)), nullptr);
+        EXPECT_EQ(manager.getMesh("worldspace", TilePosition(1, 0)), nullptr);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, get_mesh_for_moved_object_should_return_recast_mesh_for_each_used_tile)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
+
         const btBoxShape boxShape(btVector3(20, 20, 100));
         const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
 
         manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
-        EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(0, 0)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(1, 0)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(1, -1)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(0, -1)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(0, 0)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(1, 0)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(1, -1)), nullptr);
 
         manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
-        EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(0, 0)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(-1, -1)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(-1, 0)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(0, -1)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(0, 0)), nullptr);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, get_mesh_for_moved_object_should_return_nullptr_for_unused_tile)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
+
         const btBoxShape boxShape(btVector3(20, 20, 100));
         const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
 
         manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
-        EXPECT_EQ(manager.getMesh(TilePosition(-1, -1)), nullptr);
-        EXPECT_EQ(manager.getMesh(TilePosition(-1, 0)), nullptr);
+        EXPECT_EQ(manager.getMesh("worldspace", TilePosition(-1, -1)), nullptr);
+        EXPECT_EQ(manager.getMesh("worldspace", TilePosition(-1, 0)), nullptr);
 
         manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
-        EXPECT_EQ(manager.getMesh(TilePosition(1, 0)), nullptr);
-        EXPECT_EQ(manager.getMesh(TilePosition(1, -1)), nullptr);
+        EXPECT_EQ(manager.getMesh("worldspace", TilePosition(1, 0)), nullptr);
+        EXPECT_EQ(manager.getMesh("worldspace", TilePosition(1, -1)), nullptr);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, get_mesh_for_removed_object_should_return_nullptr_for_all_previously_used_tiles)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         manager.removeObject(ObjectId(&boxShape));
-        EXPECT_EQ(manager.getMesh(TilePosition(-1, -1)), nullptr);
-        EXPECT_EQ(manager.getMesh(TilePosition(-1, 0)), nullptr);
-        EXPECT_EQ(manager.getMesh(TilePosition(0, -1)), nullptr);
-        EXPECT_EQ(manager.getMesh(TilePosition(0, 0)), nullptr);
+        EXPECT_EQ(manager.getMesh("worldspace", TilePosition(-1, -1)), nullptr);
+        EXPECT_EQ(manager.getMesh("worldspace", TilePosition(-1, 0)), nullptr);
+        EXPECT_EQ(manager.getMesh("worldspace", TilePosition(0, -1)), nullptr);
+        EXPECT_EQ(manager.getMesh("worldspace", TilePosition(0, 0)), nullptr);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, get_mesh_for_not_changed_object_after_update_should_return_recast_mesh_for_same_tiles)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
 
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
-        EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(0, 0)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(-1, -1)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(-1, 0)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(0, -1)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(0, 0)), nullptr);
 
         manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
-        EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
-        EXPECT_NE(manager.getMesh(TilePosition(0, 0)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(-1, -1)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(-1, 0)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(0, -1)), nullptr);
+        EXPECT_NE(manager.getMesh("worldspace", TilePosition(0, 0)), nullptr);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, get_revision_after_add_object_new_should_return_incremented_value)
@@ -201,7 +213,7 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const auto initialRevision = manager.getRevision();
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         EXPECT_EQ(manager.getRevision(), initialRevision + 1);
     }
@@ -210,7 +222,7 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         const auto beforeAddRevision = manager.getRevision();
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
@@ -222,7 +234,7 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
         const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
         const auto beforeUpdateRevision = manager.getRevision();
         manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
@@ -232,8 +244,9 @@ namespace
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, get_revision_after_update_not_changed_object_should_return_same_value)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         const auto beforeUpdateRevision = manager.getRevision();
         manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
@@ -244,7 +257,7 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         const auto beforeRemoveRevision = manager.getRevision();
         manager.removeObject(ObjectId(&boxShape));
@@ -270,26 +283,28 @@ namespace
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_water_for_not_max_int_should_add_new_tiles)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
         ASSERT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
         for (int x = -1; x < 12; ++x)
             for (int y = -1; y < 12; ++y)
-                ASSERT_NE(manager.getMesh(TilePosition(x, y)), nullptr);
+                ASSERT_NE(manager.getMesh("worldspace", TilePosition(x, y)), nullptr);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_water_for_max_int_should_not_add_new_tiles)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = std::numeric_limits<int>::max();
         ASSERT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
         for (int x = -6; x < 6; ++x)
             for (int y = -6; y < 6; ++y)
-                ASSERT_EQ(manager.getMesh(TilePosition(x, y)) != nullptr, -1 <= x && x <= 0 && -1 <= y && y <= 0);
+                ASSERT_EQ(manager.getMesh("worldspace", TilePosition(x, y)) != nullptr, -1 <= x && x <= 0 && -1 <= y && y <= 0);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, remove_water_for_absent_cell_should_return_nullopt)
@@ -312,20 +327,22 @@ namespace
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, remove_water_for_existing_cell_should_remove_empty_tiles)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
         ASSERT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
         ASSERT_TRUE(manager.removeWater(cellPosition));
         for (int x = -6; x < 6; ++x)
             for (int y = -6; y < 6; ++y)
-                ASSERT_EQ(manager.getMesh(TilePosition(x, y)), nullptr);
+                ASSERT_EQ(manager.getMesh("worldspace", TilePosition(x, y)), nullptr);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, remove_water_for_existing_cell_should_leave_not_empty_tiles)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
@@ -333,21 +350,35 @@ namespace
         ASSERT_TRUE(manager.removeWater(cellPosition));
         for (int x = -6; x < 6; ++x)
             for (int y = -6; y < 6; ++y)
-                ASSERT_EQ(manager.getMesh(TilePosition(x, y)) != nullptr, -1 <= x && x <= 0 && -1 <= y && y <= 0);
+                ASSERT_EQ(manager.getMesh("worldspace", TilePosition(x, y)) != nullptr, -1 <= x && x <= 0 && -1 <= y && y <= 0);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, remove_object_should_not_remove_tile_with_water)
     {
         TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        const CollisionShape shape(nullptr, boxShape);
+        const CollisionShape shape(mInstance, boxShape, mObjectTransform);
         ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
         ASSERT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
         ASSERT_TRUE(manager.removeObject(ObjectId(&boxShape)));
         for (int x = -1; x < 12; ++x)
             for (int y = -1; y < 12; ++y)
-                ASSERT_NE(manager.getMesh(TilePosition(x, y)), nullptr);
+                ASSERT_NE(manager.getMesh("worldspace", TilePosition(x, y)), nullptr);
+    }
+
+    TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, set_new_worldspace_should_remove_tiles)
+    {
+        TileCachedRecastMeshManager manager(mSettings);
+        manager.setWorldspace("worldspace");
+        const btBoxShape boxShape(btVector3(20, 20, 100));
+        const CollisionShape shape(nullptr, boxShape, mObjectTransform);
+        ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
+        manager.setWorldspace("other");
+        for (int x = -1; x < 1; ++x)
+            for (int y = -1; y < 1; ++y)
+                ASSERT_EQ(manager.getMesh("other", TilePosition(x, y)), nullptr);
     }
 }

apps/openmw_test_suite/serialization/binaryreader.cpp

@@ -1,6 +1,6 @@
 #include "format.hpp"
 
-#include <components/detournavigator/serialization/binaryreader.hpp>
+#include <components/serialization/binaryreader.hpp>
 
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
@@ -12,8 +12,8 @@
 namespace
 {
     using namespace testing;
-    using namespace DetourNavigator::Serialization;
-    using namespace DetourNavigator::SerializationTesting;
+    using namespace Serialization;
+    using namespace SerializationTesting;
 
     TEST(DetourNavigatorSerializationBinaryReaderTest, shouldReadArithmeticTypeValue)
     {

apps/openmw_test_suite/serialization/binarywriter.cpp

@@ -1,6 +1,6 @@
 #include "format.hpp"
 
-#include <components/detournavigator/serialization/binarywriter.hpp>
+#include <components/serialization/binarywriter.hpp>
 
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
@@ -12,8 +12,8 @@
 namespace
 {
     using namespace testing;
-    using namespace DetourNavigator::Serialization;
-    using namespace DetourNavigator::SerializationTesting;
+    using namespace Serialization;
+    using namespace SerializationTesting;
 
     TEST(DetourNavigatorSerializationBinaryWriterTest, shouldWriteArithmeticTypeValue)
     {

apps/openmw_test_suite/serialization/format.hpp

@@ -1,12 +1,12 @@
-#ifndef OPENMW_TEST_SUITE_DETOURNAVIGATOR_SERIALIZATION_FORMAT_H
-#define OPENMW_TEST_SUITE_DETOURNAVIGATOR_SERIALIZATION_FORMAT_H
+#ifndef OPENMW_TEST_SUITE_SERIALIZATION_FORMAT_H
+#define OPENMW_TEST_SUITE_SERIALIZATION_FORMAT_H
 
-#include <components/detournavigator/serialization/format.hpp>
+#include <components/serialization/format.hpp>
 
 #include <utility>
 #include <type_traits>
 
-namespace DetourNavigator::SerializationTesting
+namespace SerializationTesting
 {
     struct Pod
     {

apps/openmw_test_suite/serialization/integration.cpp

@@ -1,8 +1,8 @@
 #include "format.hpp"
 
-#include <components/detournavigator/serialization/sizeaccumulator.hpp>
-#include <components/detournavigator/serialization/binarywriter.hpp>
-#include <components/detournavigator/serialization/binaryreader.hpp>
+#include <components/serialization/sizeaccumulator.hpp>
+#include <components/serialization/binarywriter.hpp>
+#include <components/serialization/binaryreader.hpp>
 
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
@@ -12,8 +12,8 @@
 namespace
 {
     using namespace testing;
-    using namespace DetourNavigator::Serialization;
-    using namespace DetourNavigator::SerializationTesting;
+    using namespace Serialization;
+    using namespace SerializationTesting;
 
     struct DetourNavigatorSerializationIntegrationTest : Test
     {

apps/openmw_test_suite/serialization/sizeaccumulator.cpp

@@ -1,6 +1,6 @@
 #include "format.hpp"
 
-#include <components/detournavigator/serialization/sizeaccumulator.hpp>
+#include <components/serialization/sizeaccumulator.hpp>
 
 #include <gtest/gtest.h>
 
@@ -12,8 +12,8 @@
 namespace
 {
     using namespace testing;
-    using namespace DetourNavigator::Serialization;
-    using namespace DetourNavigator::SerializationTesting;
+    using namespace Serialization;
+    using namespace SerializationTesting;
 
     TEST(DetourNavigatorSerializationSizeAccumulatorTest, shouldProvideSizeForArithmeticType)
     {

components/CMakeLists.txt

@@ -203,6 +203,11 @@ add_component_dir(detournavigator
     preparednavmeshdata
     navmeshcacheitem
     navigatorutils
+    generatenavmeshtile
+    navmeshdb
+    serialization
+    navmeshdbutils
+    recast
     )
 
 add_component_dir(loadinglistener

components/detournavigator/areatype.hpp

@@ -3,6 +3,8 @@
 
 #include <Recast.h>
 
+#include <ostream>
+
 namespace DetourNavigator
 {
     enum AreaType : unsigned char
@@ -21,6 +23,19 @@ namespace DetourNavigator
         float mPathgrid = 1.0f;
         float mGround = 1.0f;
     };
+
+    inline std::ostream& operator<<(std::ostream& stream, AreaType value)
+    {
+        switch (value)
+        {
+            case AreaType_null: return stream << "null";
+            case AreaType_water: return stream << "water";
+            case AreaType_door: return stream << "door";
+            case AreaType_pathgrid: return stream << "pathgrid";
+            case AreaType_ground: return stream << "ground";
+        }
+        return stream << "unknown area type (" << static_cast<std::underlying_type_t<AreaType>>(value) << ")";
+    }
 }
 
 #endif

components/detournavigator/asyncnavmeshupdater.cpp

@@ -3,6 +3,9 @@
 #include "makenavmesh.hpp"
 #include "settings.hpp"
 #include "version.hpp"
+#include "serialization.hpp"
+#include "navmeshdbutils.hpp"
+#include "dbrefgeometryobject.hpp"
 
 #include <components/debug/debuglog.hpp>
 #include <components/misc/thread.hpp>
@@ -15,71 +18,104 @@
 #include <algorithm>
 #include <numeric>
 #include <set>
+#include <type_traits>
 
-namespace
+namespace DetourNavigator
 {
-    using DetourNavigator::ChangeType;
-    using DetourNavigator::TilePosition;
-    using DetourNavigator::UpdateType;
-    using DetourNavigator::ChangeType;
-    using DetourNavigator::Job;
-    using DetourNavigator::JobIt;
-
-    int getManhattanDistance(const TilePosition& lhs, const TilePosition& rhs)
+    namespace
     {
-        return std::abs(lhs.x() - rhs.x()) + std::abs(lhs.y() - rhs.y());
-    }
+        int getManhattanDistance(const TilePosition& lhs, const TilePosition& rhs)
+        {
+            return std::abs(lhs.x() - rhs.x()) + std::abs(lhs.y() - rhs.y());
+        }
 
-    int getMinDistanceTo(const TilePosition& position, int maxDistance,
-                         const std::set<std::tuple<osg::Vec3f, TilePosition>>& pushedTiles,
-                         const std::set<std::tuple<osg::Vec3f, TilePosition>>& presentTiles)
-    {
-        int result = maxDistance;
-        for (const auto& [halfExtents, tile] : pushedTiles)
-            if (presentTiles.find(std::tie(halfExtents, tile)) == presentTiles.end())
-                result = std::min(result, getManhattanDistance(position, tile));
-        return result;
-    }
+        int getMinDistanceTo(const TilePosition& position, int maxDistance,
+                             const std::set<std::tuple<osg::Vec3f, TilePosition>>& pushedTiles,
+                             const std::set<std::tuple<osg::Vec3f, TilePosition>>& presentTiles)
+        {
+            int result = maxDistance;
+            for (const auto& [halfExtents, tile] : pushedTiles)
+                if (presentTiles.find(std::tie(halfExtents, tile)) == presentTiles.end())
+                    result = std::min(result, getManhattanDistance(position, tile));
+            return result;
+        }
 
-    UpdateType getUpdateType(ChangeType changeType) noexcept
-    {
-        if (changeType == ChangeType::update)
-            return UpdateType::Temporary;
-        return UpdateType::Persistent;
-    }
+        auto getPriority(const Job& job) noexcept
+        {
+            return std::make_tuple(-static_cast<std::underlying_type_t<JobState>>(job.mState), job.mProcessTime,
+                                   job.mChangeType, job.mTryNumber, job.mDistanceToPlayer, job.mDistanceToOrigin);
+        }
 
-    auto getPriority(const Job& job) noexcept
-    {
-        return std::make_tuple(job.mProcessTime, job.mChangeType, job.mTryNumber, job.mDistanceToPlayer, job.mDistanceToOrigin);
-    }
+        struct LessByJobPriority
+        {
+            bool operator()(JobIt lhs, JobIt rhs) const noexcept
+            {
+                return getPriority(*lhs) < getPriority(*rhs);
+            }
+        };
 
-    struct LessByJobPriority
-    {
-        bool operator()(JobIt lhs, JobIt rhs) const noexcept
+        void insertPrioritizedJob(JobIt job, std::deque<JobIt>& queue)
         {
-            return getPriority(*lhs) < getPriority(*rhs);
+            const auto it = std::upper_bound(queue.begin(), queue.end(), job, LessByJobPriority {});
+            queue.insert(it, job);
         }
-    };
 
-    void insertPrioritizedJob(JobIt job, std::deque<JobIt>& queue)
-    {
-        const auto it = std::upper_bound(queue.begin(), queue.end(), job, LessByJobPriority {});
-        queue.insert(it, job);
-    }
+        auto getDbPriority(const Job& job) noexcept
+        {
+            return std::make_tuple(static_cast<std::underlying_type_t<JobState>>(job.mState),
+                                   job.mChangeType, job.mDistanceToPlayer, job.mDistanceToOrigin);
+        }
 
-    auto getAgentAndTile(const Job& job) noexcept
-    {
-        return std::make_tuple(job.mAgentHalfExtents, job.mChangedTile);
+        struct LessByJobDbPriority
+        {
+            bool operator()(JobIt lhs, JobIt rhs) const noexcept
+            {
+                return getDbPriority(*lhs) < getDbPriority(*rhs);
+            }
+        };
+
+        void insertPrioritizedDbJob(JobIt job, std::deque<JobIt>& queue)
+        {
+            const auto it = std::upper_bound(queue.begin(), queue.end(), job, LessByJobDbPriority {});
+            queue.insert(it, job);
+        }
+
+        auto getAgentAndTile(const Job& job) noexcept
+        {
+            return std::make_tuple(job.mAgentHalfExtents, job.mChangedTile);
+        }
+
+        std::unique_ptr<DbWorker> makeDbWorker(AsyncNavMeshUpdater& updater, std::unique_ptr<NavMeshDb>&& db, const Settings& settings)
+        {
+            if (db == nullptr)
+                return nullptr;
+            return std::make_unique<DbWorker>(updater, std::move(db), TileVersion(settings.mNavMeshVersion), settings.mRecast);
+        }
+
+        void updateJobs(std::deque<JobIt>& jobs, TilePosition playerTile, int maxTiles)
+        {
+            for (JobIt job : jobs)
+            {
+                job->mDistanceToPlayer = getManhattanDistance(job->mChangedTile, playerTile);
+                if (!shouldAddTile(job->mChangedTile, playerTile, maxTiles))
+                    job->mChangeType = ChangeType::remove;
+            }
+        }
+
+        std::size_t getNextJobId()
+        {
+            static std::atomic_size_t nextJobId {1};
+            return nextJobId.fetch_add(1);
+        }
     }
-}
 
-namespace DetourNavigator
-{
     Job::Job(const osg::Vec3f& agentHalfExtents, std::weak_ptr<GuardedNavMeshCacheItem> navMeshCacheItem,
-        const TilePosition& changedTile, ChangeType changeType, int distanceToPlayer,
+        std::string_view worldspace, const TilePosition& changedTile, ChangeType changeType, int distanceToPlayer,
         std::chrono::steady_clock::time_point processTime)
-        : mAgentHalfExtents(agentHalfExtents)
+        : mId(getNextJobId())
+        , mAgentHalfExtents(agentHalfExtents)
         , mNavMeshCacheItem(std::move(navMeshCacheItem))
+        , mWorldspace(worldspace)
         , mChangedTile(changedTile)
         , mProcessTime(processTime)
         , mChangeType(changeType)
@@ -89,12 +125,13 @@ namespace DetourNavigator
     }
 
     AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager,
-            OffMeshConnectionsManager& offMeshConnectionsManager)
+            OffMeshConnectionsManager& offMeshConnectionsManager, std::unique_ptr<NavMeshDb>&& db)
         : mSettings(settings)
         , mRecastMeshManager(recastMeshManager)
         , mOffMeshConnectionsManager(offMeshConnectionsManager)
         , mShouldStop()
         , mNavMeshTilesCache(settings.mMaxNavMeshTilesCacheSize)
+        , mDbWorker(makeDbWorker(*this, std::move(db), mSettings))
     {
         for (std::size_t i = 0; i < mSettings.get().mAsyncNavMeshUpdaterThreads; ++i)
             mThreads.emplace_back([&] { process(); });
@@ -103,6 +140,8 @@ namespace DetourNavigator
     AsyncNavMeshUpdater::~AsyncNavMeshUpdater()
     {
         mShouldStop = true;
+        if (mDbWorker != nullptr)
+            mDbWorker->stop();
         std::unique_lock<std::mutex> lock(mMutex);
         mWaiting.clear();
         mHasJob.notify_all();
@@ -111,8 +150,8 @@ namespace DetourNavigator
             thread.join();
     }
 
-    void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents,
-        const SharedNavMeshCacheItem& navMeshCacheItem, const TilePosition& playerTile,
+    void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents, const SharedNavMeshCacheItem& navMeshCacheItem,
+        const TilePosition& playerTile, std::string_view worldspace,
         const std::map<TilePosition, ChangeType>& changedTiles)
     {
         bool playerTileChanged = false;
@@ -126,18 +165,12 @@ namespace DetourNavigator
             return;
 
         const dtNavMeshParams params = *navMeshCacheItem->lockConst()->getImpl().getParams();
+        const int maxTiles = std::min(mSettings.get().mMaxTilesNumber, params.maxTiles);
 
-        const std::lock_guard<std::mutex> lock(mMutex);
+        std::unique_lock lock(mMutex);
 
         if (playerTileChanged)
-        {
-            for (JobIt job : mWaiting)
-            {
-                job->mDistanceToPlayer = getManhattanDistance(job->mChangedTile, playerTile);
-                if (!shouldAddTile(job->mChangedTile, playerTile, std::min(mSettings.get().mMaxTilesNumber, params.maxTiles)))
-                    job->mChangeType = ChangeType::remove;
-            }
-        }
+            updateJobs(mWaiting, playerTile, maxTiles);
 
         for (const auto& [changedTile, changeType] : changedTiles)
         {
@@ -147,8 +180,11 @@ namespace DetourNavigator
                     ? mLastUpdates[std::tie(agentHalfExtents, changedTile)] + mSettings.get().mMinUpdateInterval
                     : std::chrono::steady_clock::time_point();
 
-                const JobIt it = mJobs.emplace(mJobs.end(), agentHalfExtents, navMeshCacheItem, changedTile,
-                    changeType, getManhattanDistance(changedTile, playerTile), processTime);
+                const JobIt it = mJobs.emplace(mJobs.end(), agentHalfExtents, navMeshCacheItem, worldspace,
+                    changedTile, changeType, getManhattanDistance(changedTile, playerTile), processTime);
+
+                Log(Debug::Debug) << "Post job " << it->mId << " for agent=(" << it->mAgentHalfExtents << ")"
+                    << " changedTile=(" << it->mChangedTile << ")";
 
                 if (playerTileChanged)
                     mWaiting.push_back(it);
@@ -164,6 +200,11 @@ namespace DetourNavigator
 
         if (!mWaiting.empty())
             mHasJob.notify_all();
+
+        lock.unlock();
+
+        if (playerTileChanged && mDbWorker != nullptr)
+            mDbWorker->updateJobs(playerTile, maxTiles);
     }
 
     void AsyncNavMeshUpdater::wait(Loading::Listener& listener, WaitConditionType waitConditionType)
@@ -241,25 +282,40 @@ namespace DetourNavigator
         mProcessingTiles.wait(mProcessed, [] (const auto& v) { return v.empty(); });
     }
 
-    void AsyncNavMeshUpdater::reportStats(unsigned int frameNumber, osg::Stats& stats) const
+    AsyncNavMeshUpdater::Stats AsyncNavMeshUpdater::getStats() const
     {
-        std::size_t jobs = 0;
-        std::size_t waiting = 0;
-        std::size_t pushed = 0;
-
+        Stats result;
         {
             const std::lock_guard<std::mutex> lock(mMutex);
-            jobs = mJobs.size();
-            waiting = mWaiting.size();
-            pushed = mPushed.size();
+            result.mJobs = mJobs.size();
+            result.mWaiting = mWaiting.size();
+            result.mPushed = mPushed.size();
         }
+        result.mProcessing = mProcessingTiles.lockConst()->size();
+        if (mDbWorker != nullptr)
+            result.mDb = mDbWorker->getStats();
+        result.mCache = mNavMeshTilesCache.getStats();
+        result.mDbGetTileHits = mDbGetTileHits.load(std::memory_order_relaxed);
+        return result;
+    }
 
-        stats.setAttribute(frameNumber, "NavMesh Jobs", jobs);
-        stats.setAttribute(frameNumber, "NavMesh Waiting", waiting);
-        stats.setAttribute(frameNumber, "NavMesh Pushed", pushed);
-        stats.setAttribute(frameNumber, "NavMesh Processing", mProcessingTiles.lockConst()->size());
+    void reportStats(const AsyncNavMeshUpdater::Stats& stats, unsigned int frameNumber, osg::Stats& out)
+    {
+        out.setAttribute(frameNumber, "NavMesh Jobs", static_cast<double>(stats.mJobs));
+        out.setAttribute(frameNumber, "NavMesh Waiting", static_cast<double>(stats.mWaiting));
+        out.setAttribute(frameNumber, "NavMesh Pushed", static_cast<double>(stats.mPushed));
+        out.setAttribute(frameNumber, "NavMesh Processing", static_cast<double>(stats.mProcessing));
 
-        mNavMeshTilesCache.reportStats(frameNumber, stats);
+        if (stats.mDb.has_value())
+        {
+            out.setAttribute(frameNumber, "NavMesh DbJobs", static_cast<double>(stats.mDb->mJobs));
+
+            if (stats.mDb->mGetTileCount > 0)
+                out.setAttribute(frameNumber, "NavMesh DbCacheHitRate", static_cast<double>(stats.mDbGetTileHits)
+                                    / static_cast<double>(stats.mDb->mGetTileCount) * 100.0);
+        }
+
+        reportStats(stats.mCache, frameNumber, out);
     }
 
     void AsyncNavMeshUpdater::process() noexcept
@@ -272,12 +328,26 @@ namespace DetourNavigator
             {
                 if (JobIt job = getNextJob(); job != mJobs.end())
                 {
-                    const auto processed = processJob(*job);
-                    unlockTile(job->mAgentHalfExtents, job->mChangedTile);
-                    if (processed)
-                        removeJob(job);
-                    else
-                        repost(job);
+                    const JobStatus status = processJob(*job);
+                    Log(Debug::Debug) << "Processed job " << job->mId << " with status=" << status;
+                    switch (status)
+                    {
+                        case JobStatus::Done:
+                            unlockTile(job->mAgentHalfExtents, job->mChangedTile);
+                            if (job->mGeneratedNavMeshData != nullptr)
+                                mDbWorker->enqueueJob(job);
+                            else
+                                removeJob(job);
+                            break;
+                        case JobStatus::Fail:
+                            repost(job);
+                            break;
+                        case JobStatus::MemoryCacheMiss:
+                        {
+                            mDbWorker->enqueueJob(job);
+                            break;
+                        }
+                    }
                 }
                 else
                     cleanupLastUpdates();
@@ -290,33 +360,156 @@ namespace DetourNavigator
         Log(Debug::Debug) << "Stop navigator jobs processing by thread=" << std::this_thread::get_id();
     }
 
-    bool AsyncNavMeshUpdater::processJob(const Job& job)
+    JobStatus AsyncNavMeshUpdater::processJob(Job& job)
     {
-        Log(Debug::Debug) << "Process job for agent=(" << std::fixed << std::setprecision(2) << job.mAgentHalfExtents << ")"
-            " by thread=" << std::this_thread::get_id();
-
-        const auto start = std::chrono::steady_clock::now();
+        Log(Debug::Debug) << "Processing job " << job.mId << " by thread=" << std::this_thread::get_id();
 
         const auto navMeshCacheItem = job.mNavMeshCacheItem.lock();
 
         if (!navMeshCacheItem)
-            return true;
+            return JobStatus::Done;
 
-        const auto recastMesh = mRecastMeshManager.get().getMesh(job.mChangedTile);
         const auto playerTile = *mPlayerTile.lockConst();
+        const auto params = *navMeshCacheItem->lockConst()->getImpl().getParams();
+
+        if (!shouldAddTile(job.mChangedTile, playerTile, std::min(mSettings.get().mMaxTilesNumber, params.maxTiles)))
+        {
+            Log(Debug::Debug) << "Ignore add tile by job " << job.mId << ": too far from player";
+            navMeshCacheItem->lock()->removeTile(job.mChangedTile);
+            return JobStatus::Done;
+        }
+
+        switch (job.mState)
+        {
+            case JobState::Initial:
+                return processInitialJob(job, *navMeshCacheItem);
+            case JobState::WithDbResult:
+                return processJobWithDbResult(job, *navMeshCacheItem);
+        }
+
+        return JobStatus::Done;
+    }
+
+    JobStatus AsyncNavMeshUpdater::processInitialJob(Job& job, GuardedNavMeshCacheItem& navMeshCacheItem)
+    {
+        Log(Debug::Debug) << "Processing initial job " << job.mId;
+
+        std::shared_ptr<RecastMesh> recastMesh = mRecastMeshManager.get().getMesh(job.mWorldspace, job.mChangedTile);
+
+        if (recastMesh == nullptr)
+        {
+            Log(Debug::Debug) << "Null recast mesh for job " << job.mId;
+            navMeshCacheItem.lock()->markAsEmpty(job.mChangedTile);
+            return JobStatus::Done;
+        }
+
+        if (isEmpty(*recastMesh))
+        {
+            Log(Debug::Debug) << "Empty bounds for job " << job.mId;
+            navMeshCacheItem.lock()->markAsEmpty(job.mChangedTile);
+            return JobStatus::Done;
+        }
+
+        NavMeshTilesCache::Value cachedNavMeshData = mNavMeshTilesCache.get(job.mAgentHalfExtents, job.mChangedTile, *recastMesh);
+        std::unique_ptr<PreparedNavMeshData> preparedNavMeshData;
+        const PreparedNavMeshData* preparedNavMeshDataPtr = nullptr;
+
+        if (cachedNavMeshData)
+        {
+            preparedNavMeshDataPtr = &cachedNavMeshData.get();
+        }
+        else
+        {
+            if (job.mChangeType != ChangeType::update && mDbWorker != nullptr)
+            {
+                job.mRecastMesh = std::move(recastMesh);
+                return JobStatus::MemoryCacheMiss;
+            }
+
+            preparedNavMeshData = prepareNavMeshTileData(*recastMesh, job.mChangedTile, job.mAgentHalfExtents, mSettings.get().mRecast);
+
+            if (preparedNavMeshData == nullptr)
+            {
+                Log(Debug::Debug) << "Null navmesh data for job " << job.mId;
+                navMeshCacheItem.lock()->markAsEmpty(job.mChangedTile);
+                return JobStatus::Done;
+            }
+
+            if (job.mChangeType == ChangeType::update)
+            {
+                preparedNavMeshDataPtr = preparedNavMeshData.get();
+            }
+            else
+            {
+                cachedNavMeshData = mNavMeshTilesCache.set(job.mAgentHalfExtents, job.mChangedTile,
+                                                           *recastMesh, std::move(preparedNavMeshData));
+                preparedNavMeshDataPtr = cachedNavMeshData ? &cachedNavMeshData.get() : preparedNavMeshData.get();
+            }
+        }
+
         const auto offMeshConnections = mOffMeshConnectionsManager.get().get(job.mChangedTile);
 
-        const auto status = updateNavMesh(job.mAgentHalfExtents, recastMesh.get(), job.mChangedTile, playerTile,
-            offMeshConnections, mSettings, navMeshCacheItem, mNavMeshTilesCache, getUpdateType(job.mChangeType));
+        const UpdateNavMeshStatus status = navMeshCacheItem.lock()->updateTile(job.mChangedTile, std::move(cachedNavMeshData),
+            makeNavMeshTileData(*preparedNavMeshDataPtr, offMeshConnections, job.mAgentHalfExtents, job.mChangedTile, mSettings.get().mRecast));
+
+        return handleUpdateNavMeshStatus(status, job, navMeshCacheItem, *recastMesh);
+    }
+
+    JobStatus AsyncNavMeshUpdater::processJobWithDbResult(Job& job, GuardedNavMeshCacheItem& navMeshCacheItem)
+    {
+        Log(Debug::Debug) << "Processing job with db result " << job.mId;
+
+        std::unique_ptr<PreparedNavMeshData> preparedNavMeshData;
+        bool generatedNavMeshData = false;
+
+        if (job.mCachedTileData.has_value() && job.mCachedTileData->mVersion == mSettings.get().mNavMeshVersion)
+        {
+            preparedNavMeshData = std::make_unique<PreparedNavMeshData>();
+            if (deserialize(job.mCachedTileData->mData, *preparedNavMeshData))
+                ++mDbGetTileHits;
+            else
+                preparedNavMeshData = nullptr;
+        }
+
+        if (preparedNavMeshData == nullptr)
+        {
+            preparedNavMeshData = prepareNavMeshTileData(*job.mRecastMesh, job.mChangedTile, job.mAgentHalfExtents, mSettings.get().mRecast);
+            generatedNavMeshData = true;
+        }
 
-        if (recastMesh != nullptr)
+        if (preparedNavMeshData == nullptr)
         {
-            const Version navMeshVersion = navMeshCacheItem->lockConst()->getVersion();
-            mRecastMeshManager.get().reportNavMeshChange(job.mChangedTile,
-                Version {recastMesh->getGeneration(), recastMesh->getRevision()},
-                navMeshVersion);
+            Log(Debug::Debug) << "Null navmesh data for job " << job.mId;
+            navMeshCacheItem.lock()->markAsEmpty(job.mChangedTile);
+            return JobStatus::Done;
         }
 
+        auto cachedNavMeshData = mNavMeshTilesCache.set(job.mAgentHalfExtents, job.mChangedTile, *job.mRecastMesh,
+                                                        std::move(preparedNavMeshData));
+
+        const auto offMeshConnections = mOffMeshConnectionsManager.get().get(job.mChangedTile);
+
+        const PreparedNavMeshData* preparedNavMeshDataPtr = cachedNavMeshData ? &cachedNavMeshData.get() : preparedNavMeshData.get();
+        const UpdateNavMeshStatus status = navMeshCacheItem.lock()->updateTile(job.mChangedTile, std::move(cachedNavMeshData),
+            makeNavMeshTileData(*preparedNavMeshDataPtr, offMeshConnections, job.mAgentHalfExtents, job.mChangedTile, mSettings.get().mRecast));
+
+        const JobStatus result = handleUpdateNavMeshStatus(status, job, navMeshCacheItem, *job.mRecastMesh);
+
+        if (result == JobStatus::Done && job.mChangeType != ChangeType::update
+                && mDbWorker != nullptr && mSettings.get().mWriteToNavMeshDb && generatedNavMeshData)
+            job.mGeneratedNavMeshData = std::make_unique<PreparedNavMeshData>(*preparedNavMeshDataPtr);
+
+        return result;
+    }
+
+    JobStatus AsyncNavMeshUpdater::handleUpdateNavMeshStatus(UpdateNavMeshStatus status,
+        const Job& job, const GuardedNavMeshCacheItem& navMeshCacheItem, const RecastMesh& recastMesh)
+    {
+        const Version navMeshVersion = navMeshCacheItem.lockConst()->getVersion();
+        mRecastMeshManager.get().reportNavMeshChange(job.mChangedTile,
+            Version {recastMesh.getGeneration(), recastMesh.getRevision()},
+            navMeshVersion);
+
         if (status == UpdateNavMeshStatus::removed || status == UpdateNavMeshStatus::lost)
         {
             const std::scoped_lock lock(mMutex);
@@ -328,23 +521,9 @@ namespace DetourNavigator
             mPresentTiles.insert(std::make_tuple(job.mAgentHalfExtents, job.mChangedTile));
         }
 
-        const auto finish = std::chrono::steady_clock::now();
-
-        writeDebugFiles(job, recastMesh.get());
-
-        using FloatMs = std::chrono::duration<float, std::milli>;
+        writeDebugFiles(job, &recastMesh);
 
-        const Version version = navMeshCacheItem->lockConst()->getVersion();
-        Log(Debug::Debug) << std::fixed << std::setprecision(2) <<
-            "Cache updated for agent=(" << job.mAgentHalfExtents << ")" <<
-            " tile=" << job.mChangedTile <<
-            " status=" << status <<
-            " generation=" << version.mGeneration <<
-            " revision=" << version.mRevision <<
-            " time=" << std::chrono::duration_cast<FloatMs>(finish - start).count() << "ms" <<
-            " thread=" << std::this_thread::get_id();
-
-        return isSuccess(status);
+        return isSuccess(status) ? JobStatus::Done : JobStatus::Fail;
     }
 
     JobIt AsyncNavMeshUpdater::getNextJob()
@@ -373,8 +552,12 @@ namespace DetourNavigator
 
         mWaiting.pop_front();
 
+        if (job->mRecastMesh != nullptr)
+            return job;
+
         if (!lockTile(job->mAgentHalfExtents, job->mChangedTile))
         {
+            Log(Debug::Debug) << "Failed to lock tile by " << job->mId;
             ++job->mTryNumber;
             insertPrioritizedJob(job, mWaiting);
             return mJobs.end();
@@ -404,7 +587,7 @@ namespace DetourNavigator
         }
         if (recastMesh && mSettings.get().mEnableWriteRecastMeshToFile)
             writeToFile(*recastMesh, mSettings.get().mRecastMeshPathPrefix + std::to_string(job.mChangedTile.x())
-                        + "_" + std::to_string(job.mChangedTile.y()) + "_", recastMeshRevision, mSettings);
+                        + "_" + std::to_string(job.mChangedTile.y()) + "_", recastMeshRevision, mSettings.get().mRecast);
         if (mSettings.get().mEnableWriteNavMeshToFile)
             if (const auto shared = job.mNavMeshCacheItem.lock())
                 writeToFile(shared->lockConst()->getImpl(), mSettings.get().mNavMeshPathPrefix, navMeshRevision);
@@ -412,6 +595,8 @@ namespace DetourNavigator
 
     void AsyncNavMeshUpdater::repost(JobIt job)
     {
+        unlockTile(job->mAgentHalfExtents, job->mChangedTile);
+
         if (mShouldStop || job->mTryNumber > 2)
             return;
 
@@ -430,17 +615,15 @@ namespace DetourNavigator
 
     bool AsyncNavMeshUpdater::lockTile(const osg::Vec3f& agentHalfExtents, const TilePosition& changedTile)
     {
-        if (mSettings.get().mAsyncNavMeshUpdaterThreads <= 1)
-            return true;
+        Log(Debug::Debug) << "Locking tile agent=(" << agentHalfExtents << ") changedTile=(" << changedTile << ")";
         return mProcessingTiles.lock()->emplace(agentHalfExtents, changedTile).second;
     }
 
     void AsyncNavMeshUpdater::unlockTile(const osg::Vec3f& agentHalfExtents, const TilePosition& changedTile)
     {
-        if (mSettings.get().mAsyncNavMeshUpdaterThreads <= 1)
-            return;
         auto locked = mProcessingTiles.lock();
         locked->erase(std::tie(agentHalfExtents, changedTile));
+        Log(Debug::Debug) << "Unlocked tile agent=(" << agentHalfExtents << ") changedTile=(" << changedTile << ")";
         if (locked->empty())
             mProcessed.notify_all();
     }
@@ -466,9 +649,201 @@ namespace DetourNavigator
         }
     }
 
+    void AsyncNavMeshUpdater::enqueueJob(JobIt job)
+    {
+        Log(Debug::Debug) << "Enqueueing job " << job->mId << " by thread=" << std::this_thread::get_id();
+        const std::lock_guard lock(mMutex);
+        insertPrioritizedJob(job, mWaiting);
+        mHasJob.notify_all();
+    }
+
     void AsyncNavMeshUpdater::removeJob(JobIt job)
     {
+        Log(Debug::Debug) << "Removing job " << job->mId << " by thread=" << std::this_thread::get_id();
         const std::lock_guard lock(mMutex);
         mJobs.erase(job);
     }
+
+    void DbJobQueue::push(JobIt job)
+    {
+        const std::lock_guard lock(mMutex);
+        insertPrioritizedDbJob(job, mJobs);
+        mHasJob.notify_all();
+    }
+
+    std::optional<JobIt> DbJobQueue::pop()
+    {
+        std::unique_lock lock(mMutex);
+        mHasJob.wait(lock, [&] { return mShouldStop || !mJobs.empty(); });
+        if (mJobs.empty())
+            return std::nullopt;
+        const JobIt job = mJobs.front();
+        mJobs.pop_front();
+        return job;
+    }
+
+    void DbJobQueue::update(TilePosition playerTile, int maxTiles)
+    {
+        const std::lock_guard lock(mMutex);
+        updateJobs(mJobs, playerTile, maxTiles);
+        std::sort(mJobs.begin(), mJobs.end(), LessByJobDbPriority {});
+    }
+
+    void DbJobQueue::stop()
+    {
+        const std::lock_guard lock(mMutex);
+        mJobs.clear();
+        mShouldStop = true;
+        mHasJob.notify_all();
+    }
+
+    std::size_t DbJobQueue::size() const
+    {
+        const std::lock_guard lock(mMutex);
+        return mJobs.size();
+    }
+
+    DbWorker::DbWorker(AsyncNavMeshUpdater& updater, std::unique_ptr<NavMeshDb>&& db,
+        TileVersion version, const RecastSettings& recastSettings)
+        : mUpdater(updater)
+        , mRecastSettings(recastSettings)
+        , mDb(std::move(db))
+        , mVersion(version)
+        , mNextTileId(mDb->getMaxTileId() + 1)
+        , mNextShapeId(mDb->getMaxShapeId() + 1)
+        , mThread([this] { run(); })
+    {
+    }
+
+    DbWorker::~DbWorker()
+    {
+        stop();
+        mThread.join();
+    }
+
+    void DbWorker::enqueueJob(JobIt job)
+    {
+        Log(Debug::Debug) << "Enqueueing db job " << job->mId << " by thread=" << std::this_thread::get_id();
+        mQueue.push(job);
+    }
+
+    DbWorker::Stats DbWorker::getStats() const
+    {
+        Stats result;
+        result.mJobs = mQueue.size();
+        result.mGetTileCount = mGetTileCount.load(std::memory_order::memory_order_relaxed);
+        return result;
+    }
+
+    void DbWorker::stop()
+    {
+        mShouldStop = true;
+        mQueue.stop();
+    }
+
+    void DbWorker::run() noexcept
+    {
+        constexpr std::size_t writesPerTransaction = 100;
+        auto transaction = mDb->startTransaction();
+        while (!mShouldStop)
+        {
+            try
+            {
+                if (const auto job = mQueue.pop())
+                    processJob(*job);
+                if (mWrites > writesPerTransaction)
+                {
+                    mWrites = 0;
+                    transaction.commit();
+                    transaction = mDb->startTransaction();
+                }
+            }
+            catch (const std::exception& e)
+            {
+                Log(Debug::Error) << "DbWorker exception: " << e.what();
+            }
+        }
+        transaction.commit();
+    }
+
+    void DbWorker::processJob(JobIt job)
+    {
+        const auto process = [&] (auto f)
+        {
+            try
+            {
+                f(job);
+            }
+            catch (const std::exception& e)
+            {
+                Log(Debug::Error) << "DbWorker exception while processing job " << job->mId << ": " << e.what();
+            }
+        };
+
+        if (job->mGeneratedNavMeshData != nullptr)
+        {
+            process([&] (JobIt job) { processWritingJob(job); });
+            mUpdater.removeJob(job);
+            return;
+        }
+
+        process([&] (JobIt job) { processReadingJob(job); });
+        job->mState = JobState::WithDbResult;
+        mUpdater.enqueueJob(job);
+    }
+
+    void DbWorker::processReadingJob(JobIt job)
+    {
+        Log(Debug::Debug) << "Processing db read job " << job->mId;
+
+        if (job->mInput.empty())
+        {
+            Log(Debug::Debug) << "Serializing input for job " << job->mId;
+            const ShapeId shapeId = mNextShapeId;
+            const std::vector<DbRefGeometryObject> objects = makeDbRefGeometryObjects(job->mRecastMesh->getMeshSources(),
+                [&] (const MeshSource& v) { return resolveMeshSource(*mDb, v, mNextShapeId); });
+            if (shapeId != mNextShapeId)
+                ++mWrites;
+            job->mInput = serialize(mRecastSettings, *job->mRecastMesh, objects);
+        }
+
+        job->mCachedTileData = mDb->getTileData(job->mWorldspace, job->mChangedTile, job->mInput);
+        ++mGetTileCount;
+    }
+
+    void DbWorker::processWritingJob(JobIt job)
+    {
+        ++mWrites;
+
+        Log(Debug::Debug) << "Processing db write job " << job->mId;
+
+        if (job->mInput.empty())
+        {
+            Log(Debug::Debug) << "Serializing input for job " << job->mId;
+            const std::vector<DbRefGeometryObject> objects = makeDbRefGeometryObjects(job->mRecastMesh->getMeshSources(),
+                [&] (const MeshSource& v) { return resolveMeshSource(*mDb, v, mNextShapeId); });
+            job->mInput = serialize(mRecastSettings, *job->mRecastMesh, objects);
+        }
+
+        if (const auto& cachedTileData = job->mCachedTileData)
+        {
+            Log(Debug::Debug) << "Update db tile by job " << job->mId;
+            job->mGeneratedNavMeshData->mUserId = cachedTileData->mTileId;
+            mDb->updateTile(cachedTileData->mTileId, mVersion, serialize(*job->mGeneratedNavMeshData));
+            return;
+        }
+
+        const auto cached = mDb->findTile(job->mWorldspace, job->mChangedTile, job->mInput);
+        if (cached.has_value() && cached->mVersion == mVersion)
+        {
+            Log(Debug::Debug) << "Ignore existing db tile by job " << job->mId;
+            return;
+        }
+
+        job->mGeneratedNavMeshData->mUserId = mNextTileId;
+        Log(Debug::Debug) << "Insert db tile by job " << job->mId;
+        mDb->insertTile(mNextTileId, job->mWorldspace, job->mChangedTile,
+                        mVersion, job->mInput, serialize(*job->mGeneratedNavMeshData));
+        ++mNextTileId.t;
+    }
 }

components/detournavigator/asyncnavmeshupdater.hpp

@@ -7,6 +7,7 @@
 #include "tileposition.hpp"
 #include "navmeshtilescache.hpp"
 #include "waitconditiontype.hpp"
+#include "navmeshdb.hpp"
 
 #include <osg/Vec3f>
 
@@ -20,6 +21,7 @@
 #include <thread>
 #include <tuple>
 #include <list>
+#include <optional>
 
 class dtNavMesh;
 
@@ -53,37 +55,150 @@ namespace DetourNavigator
         return stream << "ChangeType::" << static_cast<int>(value);
     }
 
+    enum class JobState
+    {
+        Initial,
+        WithDbResult,
+    };
+
     struct Job
     {
+        const std::size_t mId;
         const osg::Vec3f mAgentHalfExtents;
         const std::weak_ptr<GuardedNavMeshCacheItem> mNavMeshCacheItem;
+        const std::string mWorldspace;
         const TilePosition mChangedTile;
         const std::chrono::steady_clock::time_point mProcessTime;
         unsigned mTryNumber = 0;
         ChangeType mChangeType;
         int mDistanceToPlayer;
         const int mDistanceToOrigin;
+        JobState mState = JobState::Initial;
+        std::vector<std::byte> mInput;
+        std::shared_ptr<RecastMesh> mRecastMesh;
+        std::optional<TileData> mCachedTileData;
+        std::unique_ptr<PreparedNavMeshData> mGeneratedNavMeshData;
 
         Job(const osg::Vec3f& agentHalfExtents, std::weak_ptr<GuardedNavMeshCacheItem> navMeshCacheItem,
-            const TilePosition& changedTile, ChangeType changeType, int distanceToPlayer,
+            std::string_view worldspace, const TilePosition& changedTile, ChangeType changeType, int distanceToPlayer,
             std::chrono::steady_clock::time_point processTime);
     };
 
     using JobIt = std::list<Job>::iterator;
 
+    enum class JobStatus
+    {
+        Done,
+        Fail,
+        MemoryCacheMiss,
+    };
+
+    inline std::ostream& operator<<(std::ostream& stream, JobStatus value)
+    {
+        switch (value)
+        {
+            case JobStatus::Done: return stream << "JobStatus::Done";
+            case JobStatus::Fail: return stream << "JobStatus::Fail";
+            case JobStatus::MemoryCacheMiss: return stream << "JobStatus::MemoryCacheMiss";
+        }
+        return stream << "JobStatus::" << static_cast<std::underlying_type_t<JobState>>(value);
+    }
+
+    class DbJobQueue
+    {
+    public:
+        void push(JobIt job);
+
+        std::optional<JobIt> pop();
+
+        void update(TilePosition playerTile, int maxTiles);
+
+        void stop();
+
+        std::size_t size() const;
+
+    private:
+        mutable std::mutex mMutex;
+        std::condition_variable mHasJob;
+        std::deque<JobIt> mJobs;
+        bool mShouldStop = false;
+    };
+
+    class AsyncNavMeshUpdater;
+
+    class DbWorker
+    {
+    public:
+        struct Stats
+        {
+            std::size_t mJobs = 0;
+            std::size_t mGetTileCount = 0;
+        };
+
+        DbWorker(AsyncNavMeshUpdater& updater, std::unique_ptr<NavMeshDb>&& db,
+            TileVersion version, const RecastSettings& recastSettings);
+
+        ~DbWorker();
+
+        Stats getStats() const;
+
+        void enqueueJob(JobIt job);
+
+        void updateJobs(TilePosition playerTile, int maxTiles) { mQueue.update(playerTile, maxTiles); }
+
+        void stop();
+
+    private:
+        AsyncNavMeshUpdater& mUpdater;
+        const RecastSettings& mRecastSettings;
+        const std::unique_ptr<NavMeshDb> mDb;
+        const TileVersion mVersion;
+        TileId mNextTileId;
+        ShapeId mNextShapeId;
+        DbJobQueue mQueue;
+        std::atomic_bool mShouldStop {false};
+        std::atomic_size_t mGetTileCount {0};
+        std::size_t mWrites = 0;
+        std::thread mThread;
+
+        inline void run() noexcept;
+
+        inline void processJob(JobIt job);
+
+        inline void processReadingJob(JobIt job);
+
+        inline void processWritingJob(JobIt job);
+    };
+
     class AsyncNavMeshUpdater
     {
     public:
+        struct Stats
+        {
+            std::size_t mJobs = 0;
+            std::size_t mWaiting = 0;
+            std::size_t mPushed = 0;
+            std::size_t mProcessing = 0;
+            std::size_t mDbGetTileHits = 0;
+            std::optional<DbWorker::Stats> mDb;
+            NavMeshTilesCache::Stats mCache;
+        };
+
         AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager,
-            OffMeshConnectionsManager& offMeshConnectionsManager);
+            OffMeshConnectionsManager& offMeshConnectionsManager, std::unique_ptr<NavMeshDb>&& db);
         ~AsyncNavMeshUpdater();
 
-        void post(const osg::Vec3f& agentHalfExtents, const SharedNavMeshCacheItem& mNavMeshCacheItem,
-            const TilePosition& playerTile, const std::map<TilePosition, ChangeType>& changedTiles);
+        void post(const osg::Vec3f& agentHalfExtents, const SharedNavMeshCacheItem& navMeshCacheItem,
+            const TilePosition& playerTile, std::string_view worldspace,
+            const std::map<TilePosition, ChangeType>& changedTiles);
 
         void wait(Loading::Listener& listener, WaitConditionType waitConditionType);
 
-        void reportStats(unsigned int frameNumber, osg::Stats& stats) const;
+        Stats getStats() const;
+
+        void enqueueJob(JobIt job);
+
+        void removeJob(JobIt job);
 
     private:
         std::reference_wrapper<const Settings> mSettings;
@@ -103,14 +218,21 @@ namespace DetourNavigator
         std::map<std::tuple<osg::Vec3f, TilePosition>, std::chrono::steady_clock::time_point> mLastUpdates;
         std::set<std::tuple<osg::Vec3f, TilePosition>> mPresentTiles;
         std::vector<std::thread> mThreads;
+        std::unique_ptr<DbWorker> mDbWorker;
+        std::atomic_size_t mDbGetTileHits {0};
 
         void process() noexcept;
 
-        bool processJob(const Job& job);
+        JobStatus processJob(Job& job);
 
-        JobIt getNextJob();
+        inline JobStatus processInitialJob(Job& job, GuardedNavMeshCacheItem& navMeshCacheItem);
+
+        inline JobStatus processJobWithDbResult(Job& job, GuardedNavMeshCacheItem& navMeshCacheItem);
+
+        inline JobStatus handleUpdateNavMeshStatus(UpdateNavMeshStatus status, const Job& job,
+            const GuardedNavMeshCacheItem& navMeshCacheItem, const RecastMesh& recastMesh);
 
-        JobIt getJob(std::deque<JobIt>& jobs, bool changeLastUpdate);
+        JobIt getNextJob();
 
         void postThreadJob(JobIt job, std::deque<JobIt>& queue);
 
@@ -129,9 +251,9 @@ namespace DetourNavigator
         int waitUntilJobsDoneForNotPresentTiles(const std::size_t initialJobsLeft, std::size_t& maxJobsLeft, Loading::Listener& listener);
 
         void waitUntilAllJobsDone();
-
-        inline void removeJob(JobIt job);
     };
+
+    void reportStats(const AsyncNavMeshUpdater::Stats& stats, unsigned int frameNumber, osg::Stats& out);
 }
 
 #endif

components/detournavigator/cachedrecastmeshmanager.cpp

@@ -84,6 +84,11 @@ namespace DetourNavigator
         return *mCached.lockConst();
     }
 
+    std::shared_ptr<RecastMesh> CachedRecastMeshManager::getNewMesh() const
+    {
+        return mImpl.getMesh();
+    }
+
     bool CachedRecastMeshManager::isEmpty() const
     {
         return mImpl.isEmpty();

components/detournavigator/cachedrecastmeshmanager.hpp

@@ -35,6 +35,8 @@ namespace DetourNavigator
 
         std::shared_ptr<RecastMesh> getCachedMesh() const;
 
+        std::shared_ptr<RecastMesh> getNewMesh() const;
+
         bool isEmpty() const;
 
         void reportNavMeshChange(const Version& recastMeshVersion, const Version& navMeshVersion);

components/detournavigator/dbrefgeometryobject.hpp

@@ -0,0 +1,46 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_DBREFGEOMETRYOBJECT_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_DBREFGEOMETRYOBJECT_H
+
+#include "objecttransform.hpp"
+#include "recastmesh.hpp"
+
+#include <algorithm>
+#include <cstdint>
+#include <tuple>
+#include <vector>
+
+namespace DetourNavigator
+{
+    struct DbRefGeometryObject
+    {
+        std::int64_t mShapeId;
+        ObjectTransform mObjectTransform;
+
+        friend inline auto tie(const DbRefGeometryObject& v)
+        {
+            return std::tie(v.mShapeId, v.mObjectTransform);
+        }
+
+        friend inline bool operator<(const DbRefGeometryObject& l, const DbRefGeometryObject& r)
+        {
+            return tie(l) < tie(r);
+        }
+    };
+
+    template <class ResolveMeshSource>
+    inline std::vector<DbRefGeometryObject> makeDbRefGeometryObjects(const std::vector<MeshSource>& meshSources,
+        ResolveMeshSource&& resolveMeshSource)
+    {
+        std::vector<DbRefGeometryObject> result;
+        result.reserve(meshSources.size());
+        std::transform(meshSources.begin(), meshSources.end(), std::back_inserter(result),
+            [&] (const MeshSource& meshSource)
+            {
+                return DbRefGeometryObject {resolveMeshSource(meshSource), meshSource.mObjectTransform};
+            });
+        std::sort(result.begin(), result.end());
+        return result;
+    }
+}
+
+#endif

components/detournavigator/debug.cpp

@@ -11,7 +11,8 @@
 
 namespace DetourNavigator
 {
-    void writeToFile(const RecastMesh& recastMesh, const std::string& pathPrefix, const std::string& revision, const Settings& settings)
+    void writeToFile(const RecastMesh& recastMesh, const std::string& pathPrefix,
+        const std::string& revision, const RecastSettings& settings)
     {
         const auto path = pathPrefix + "recastmesh" + revision + ".obj";
         boost::filesystem::ofstream file(boost::filesystem::path(path), std::ios::out);

components/detournavigator/debug.hpp

@@ -3,6 +3,7 @@
 
 #include "tilebounds.hpp"
 #include "status.hpp"
+#include "recastmesh.hpp"
 
 #include <osg/io_utils>
 
@@ -39,10 +40,40 @@ namespace DetourNavigator
         return stream << "DetourNavigator::Error::" << static_cast<int>(value);
     }
 
+    inline std::ostream& operator<<(std::ostream& s, const Water& v)
+    {
+        return s << "Water {" << v.mCellSize << ", " << v.mLevel << "}";
+    }
+
+    inline std::ostream& operator<<(std::ostream& s, const CellWater& v)
+    {
+        return s << "CellWater {" << v.mCellPosition << ", " << v.mWater << "}";
+    }
+
+    inline std::ostream& operator<<(std::ostream& s, const FlatHeightfield& v)
+    {
+        return s << "FlatHeightfield {" << v.mCellPosition << ", " << v.mCellSize << ", " << v.mHeight << "}";
+    }
+
+    inline std::ostream& operator<<(std::ostream& s, const Heightfield& v)
+    {
+        s << "Heightfield {.mCellPosition=" << v.mCellPosition
+          << ", .mCellSize=" << v.mCellSize
+          << ", .mLength=" << static_cast<int>(v.mLength)
+          << ", .mMinHeight=" << v.mMinHeight
+          << ", .mMaxHeight=" << v.mMaxHeight
+          << ", .mHeights={";
+        for (float h : v.mHeights)
+            s << h << ", ";
+        s << "}";
+        return s << ", .mOriginalSize=" << v.mOriginalSize << "}";
+    }
+
     class RecastMesh;
-    struct Settings;
+    struct RecastSettings;
 
-    void writeToFile(const RecastMesh& recastMesh, const std::string& pathPrefix, const std::string& revision, const Settings& settings);
+    void writeToFile(const RecastMesh& recastMesh, const std::string& pathPrefix,
+        const std::string& revision, const RecastSettings& settings);
     void writeToFile(const dtNavMesh& navMesh, const std::string& pathPrefix, const std::string& revision);
 }
 

components/detournavigator/findrandompointaroundcircle.cpp

@@ -10,7 +10,7 @@
 namespace DetourNavigator
 {
     std::optional<osg::Vec3f> findRandomPointAroundCircle(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents,
-        const osg::Vec3f& start, const float maxRadius, const Flags includeFlags, const Settings& settings)
+        const osg::Vec3f& start, const float maxRadius, const Flags includeFlags, const DetourSettings& settings)
     {
         dtNavMeshQuery navMeshQuery;
         if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes))

components/detournavigator/findrandompointaroundcircle.hpp

@@ -10,10 +10,10 @@ class dtNavMesh;
 
 namespace DetourNavigator
 {
-    struct Settings;
+    struct DetourSettings;
 
     std::optional<osg::Vec3f> findRandomPointAroundCircle(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents,
-        const osg::Vec3f& start, const float maxRadius, const Flags includeFlags, const Settings& settings);
+        const osg::Vec3f& start, const float maxRadius, const Flags includeFlags, const DetourSettings& settings);
 }
 
 #endif

components/detournavigator/findsmoothpath.hpp

@@ -60,7 +60,7 @@ namespace DetourNavigator
     class OutputTransformIterator
     {
     public:
-        OutputTransformIterator(OutputIterator& impl, const Settings& settings)
+        explicit OutputTransformIterator(OutputIterator& impl, const RecastSettings& settings)
             : mImpl(impl), mSettings(settings)
         {
         }
@@ -91,7 +91,7 @@ namespace DetourNavigator
 
     private:
         std::reference_wrapper<OutputIterator> mImpl;
-        std::reference_wrapper<const Settings> mSettings;
+        std::reference_wrapper<const RecastSettings> mSettings;
     };
 
     inline bool initNavMeshQuery(dtNavMeshQuery& value, const dtNavMesh& navMesh, const int maxNodes)
@@ -261,7 +261,7 @@ namespace DetourNavigator
             const Settings& settings, float endTolerance, OutputIterator& out)
     {
         dtNavMeshQuery navMeshQuery;
-        if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes))
+        if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mDetour.mMaxNavMeshQueryNodes))
             return Status::InitNavMeshQueryFailed;
 
         dtQueryFilter queryFilter;
@@ -283,7 +283,7 @@ namespace DetourNavigator
         if (endRef == 0)
             return Status::EndPolygonNotFound;
 
-        std::vector<dtPolyRef> polygonPath(settings.mMaxPolygonPathSize);
+        std::vector<dtPolyRef> polygonPath(settings.mDetour.mMaxPolygonPathSize);
         const auto polygonPathSize = findPath(navMeshQuery, startRef, endRef, start, end, queryFilter,
                                               polygonPath.data(), polygonPath.size());
 
@@ -294,9 +294,9 @@ namespace DetourNavigator
             return Status::Success;
 
         const bool partialPath = polygonPath[*polygonPathSize - 1] != endRef;
-        auto outTransform = OutputTransformIterator<OutputIterator>(out, settings);
+        auto outTransform = OutputTransformIterator<OutputIterator>(out, settings.mRecast);
         const Status smoothStatus = makeSmoothPath(navMesh, navMeshQuery, queryFilter, start, end, stepSize,
-            polygonPath, *polygonPathSize, settings.mMaxSmoothPathSize, outTransform);
+            polygonPath, *polygonPathSize, settings.mDetour.mMaxSmoothPathSize, outTransform);
 
         if (smoothStatus != Status::Success)
             return smoothStatus;

components/detournavigator/generatenavmeshtile.cpp

@@ -0,0 +1,95 @@
+#include "generatenavmeshtile.hpp"
+
+#include "dbrefgeometryobject.hpp"
+#include "makenavmesh.hpp"
+#include "offmeshconnectionsmanager.hpp"
+#include "preparednavmeshdata.hpp"
+#include "serialization.hpp"
+#include "settings.hpp"
+#include "tilecachedrecastmeshmanager.hpp"
+
+#include <components/debug/debuglog.hpp>
+
+#include <osg/Vec3f>
+#include <osg/io_utils>
+
+#include <memory>
+#include <stdexcept>
+#include <vector>
+#include <optional>
+#include <functional>
+
+namespace DetourNavigator
+{
+    namespace
+    {
+        struct Ignore
+        {
+            std::shared_ptr<NavMeshTileConsumer> mConsumer;
+
+            ~Ignore() noexcept
+            {
+                if (mConsumer != nullptr)
+                    mConsumer->ignore();
+            }
+        };
+    }
+
+    GenerateNavMeshTile::GenerateNavMeshTile(std::string worldspace, const TilePosition& tilePosition,
+            RecastMeshProvider recastMeshProvider, const osg::Vec3f& agentHalfExtents,
+            const DetourNavigator::Settings& settings, std::weak_ptr<NavMeshTileConsumer> consumer)
+        : mWorldspace(std::move(worldspace))
+        , mTilePosition(tilePosition)
+        , mRecastMeshProvider(recastMeshProvider)
+        , mAgentHalfExtents(agentHalfExtents)
+        , mSettings(settings)
+        , mConsumer(std::move(consumer)) {}
+
+    void GenerateNavMeshTile::doWork()
+    {
+        impl();
+    }
+
+    void GenerateNavMeshTile::impl() noexcept
+    {
+        const auto consumer = mConsumer.lock();
+
+        if (consumer == nullptr)
+            return;
+
+        try
+        {
+            Ignore ignore {consumer};
+
+            const std::shared_ptr<RecastMesh> recastMesh = mRecastMeshProvider.getMesh(mWorldspace, mTilePosition);
+
+            if (recastMesh == nullptr || isEmpty(*recastMesh))
+                return;
+
+            const std::vector<DbRefGeometryObject> objects = makeDbRefGeometryObjects(recastMesh->getMeshSources(),
+                [&] (const MeshSource& v) { return consumer->resolveMeshSource(v); });
+            std::vector<std::byte> input = serialize(mSettings.mRecast, *recastMesh, objects);
+            const std::optional<NavMeshTileInfo> info = consumer->find(mWorldspace, mTilePosition, input);
+
+            if (info.has_value() && info->mVersion == mSettings.mNavMeshVersion)
+                return;
+
+            const auto data = prepareNavMeshTileData(*recastMesh, mTilePosition, mAgentHalfExtents, mSettings.mRecast);
+
+            if (data == nullptr)
+                return;
+
+            if (info.has_value())
+                consumer->update(info->mTileId, mSettings.mNavMeshVersion, *data);
+            else
+                consumer->insert(mWorldspace, mTilePosition, mSettings.mNavMeshVersion, input, *data);
+
+            ignore.mConsumer = nullptr;
+        }
+        catch (const std::exception& e)
+        {
+            Log(Debug::Warning) << "Failed to generate navmesh for worldspace \"" << mWorldspace
+                                << "\" tile " << mTilePosition << ": " << e.what();
+        }
+    }
+}

components/detournavigator/generatenavmeshtile.hpp

@@ -0,0 +1,71 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_GENERATENAVMESHTILE_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_GENERATENAVMESHTILE_H
+
+#include "recastmeshprovider.hpp"
+#include "tileposition.hpp"
+
+#include <components/sceneutil/workqueue.hpp>
+
+#include <osg/Vec3f>
+
+#include <cstdint>
+#include <functional>
+#include <memory>
+#include <optional>
+#include <string_view>
+#include <vector>
+
+namespace DetourNavigator
+{
+    class OffMeshConnectionsManager;
+    class RecastMesh;
+    struct NavMeshTileConsumer;
+    struct OffMeshConnection;
+    struct PreparedNavMeshData;
+    struct Settings;
+
+    struct NavMeshTileInfo
+    {
+        std::int64_t mTileId;
+        std::int64_t mVersion;
+    };
+
+    struct NavMeshTileConsumer
+    {
+        virtual ~NavMeshTileConsumer() = default;
+
+        virtual std::int64_t resolveMeshSource(const MeshSource& source) = 0;
+
+        virtual std::optional<NavMeshTileInfo> find(const std::string& worldspace, const TilePosition& tilePosition,
+            const std::vector<std::byte>& input) = 0;
+
+        virtual void ignore() = 0;
+
+        virtual void insert(const std::string& worldspace, const TilePosition& tilePosition,
+                            std::int64_t version, const std::vector<std::byte>& input, PreparedNavMeshData& data) = 0;
+
+        virtual void update(std::int64_t tileId, std::int64_t version, PreparedNavMeshData& data) = 0;
+    };
+
+    class GenerateNavMeshTile final : public SceneUtil::WorkItem
+    {
+    public:
+        GenerateNavMeshTile(std::string worldspace, const TilePosition& tilePosition,
+                RecastMeshProvider recastMeshProvider, const osg::Vec3f& agentHalfExtents, const Settings& settings,
+                std::weak_ptr<NavMeshTileConsumer> consumer);
+
+        void doWork() final;
+
+    private:
+        const std::string mWorldspace;
+        const TilePosition mTilePosition;
+        const RecastMeshProvider mRecastMeshProvider;
+        const osg::Vec3f mAgentHalfExtents;
+        const Settings& mSettings;
+        std::weak_ptr<NavMeshTileConsumer> mConsumer;
+
+        inline void impl() noexcept;
+    };
+}
+
+#endif

components/detournavigator/gettilespositions.hpp

@@ -15,7 +15,7 @@ namespace DetourNavigator
 {
     template <class Callback>
     void getTilesPositions(const osg::Vec3f& aabbMin, const osg::Vec3f& aabbMax,
-        const Settings& settings, Callback&& callback)
+        const RecastSettings& settings, Callback&& callback)
     {
         auto min = toNavMeshCoordinates(settings, aabbMin);
         auto max = toNavMeshCoordinates(settings, aabbMax);
@@ -40,7 +40,7 @@ namespace DetourNavigator
 
     template <class Callback>
     void getTilesPositions(const btCollisionShape& shape, const btTransform& transform,
-        const Settings& settings, Callback&& callback)
+        const RecastSettings& settings, Callback&& callback)
     {
         btVector3 aabbMin;
         btVector3 aabbMax;
@@ -51,7 +51,7 @@ namespace DetourNavigator
 
     template <class Callback>
     void getTilesPositions(const int cellSize, const btVector3& shift,
-        const Settings& settings, Callback&& callback)
+        const RecastSettings& settings, Callback&& callback)
     {
         using Misc::Convert::toOsg;
 

components/detournavigator/makenavmesh.cpp

@@ -10,9 +10,15 @@
 #include "preparednavmeshdata.hpp"
 #include "navmeshdata.hpp"
 #include "recastmeshbuilder.hpp"
+#include "navmeshdb.hpp"
+#include "serialization.hpp"
+#include "dbrefgeometryobject.hpp"
+#include "navmeshdbutils.hpp"
 
 #include <components/misc/convert.hpp>
 #include <components/bullethelpers/processtrianglecallback.hpp>
+#include <components/misc/convert.hpp>
+#include <components/misc/guarded.hpp>
 
 #include <DetourNavMesh.h>
 #include <DetourNavMeshBuilder.h>
@@ -36,32 +42,6 @@ namespace
         float mHeight;
     };
 
-    Rectangle getSwimRectangle(const CellWater& water, const Settings& settings, const osg::Vec3f& agentHalfExtents)
-    {
-        if (water.mWater.mCellSize == std::numeric_limits<int>::max())
-        {
-            return Rectangle {
-                TileBounds {
-                    osg::Vec2f(-std::numeric_limits<float>::max(), -std::numeric_limits<float>::max()),
-                    osg::Vec2f(std::numeric_limits<float>::max(), std::numeric_limits<float>::max())
-                },
-                toNavMeshCoordinates(settings, getSwimLevel(settings, water.mWater.mLevel, agentHalfExtents.z()))
-            };
-        }
-        else
-        {
-            const osg::Vec2f shift = getWaterShift2d(water.mCellPosition, water.mWater.mCellSize);
-            const float halfCellSize = water.mWater.mCellSize / 2.0f;
-            return Rectangle {
-                TileBounds{
-                    toNavMeshCoordinates(settings, shift + osg::Vec2f(-halfCellSize, -halfCellSize)),
-                    toNavMeshCoordinates(settings, shift + osg::Vec2f(halfCellSize, halfCellSize))
-                },
-                toNavMeshCoordinates(settings, getSwimLevel(settings, water.mWater.mLevel, agentHalfExtents.z()))
-            };
-        }
-    }
-
     std::vector<float> getOffMeshVerts(const std::vector<OffMeshConnection>& connections)
     {
         std::vector<float> result;
@@ -120,52 +100,70 @@ namespace
         return result;
     }
 
-    rcConfig makeConfig(const osg::Vec3f& agentHalfExtents, const TilePosition& tile, float minZ, float maxZ,
-        const Settings& settings)
-    {
-        rcConfig config;
-
-        config.cs = settings.mCellSize;
-        config.ch = settings.mCellHeight;
-        config.walkableSlopeAngle = settings.mMaxSlope;
-        config.walkableHeight = static_cast<int>(std::ceil(getHeight(settings, agentHalfExtents) / config.ch));
-        config.walkableClimb = static_cast<int>(std::floor(getMaxClimb(settings) / config.ch));
-        config.walkableRadius = static_cast<int>(std::ceil(getRadius(settings, agentHalfExtents) / config.cs));
-        config.maxEdgeLen = static_cast<int>(std::round(settings.mMaxEdgeLen / config.cs));
-        config.maxSimplificationError = settings.mMaxSimplificationError;
-        config.minRegionArea = settings.mRegionMinSize * settings.mRegionMinSize;
-        config.mergeRegionArea = settings.mRegionMergeSize * settings.mRegionMergeSize;
-        config.maxVertsPerPoly = settings.mMaxVertsPerPoly;
-        config.detailSampleDist = settings.mDetailSampleDist < 0.9f ? 0 : config.cs * settings.mDetailSampleDist;
-        config.detailSampleMaxError = config.ch * settings.mDetailSampleMaxError;
-        config.borderSize = settings.mBorderSize;
-        config.tileSize = settings.mTileSize;
-        const int size = config.tileSize + config.borderSize * 2;
-        config.width = size;
-        config.height = size;
-        const float halfBoundsSize = size * config.cs * 0.5f;
-        const osg::Vec2f shift = osg::Vec2f(tile.x() + 0.5f, tile.y() + 0.5f) * getTileSize(settings);
-        config.bmin[0] = shift.x() - halfBoundsSize;
-        config.bmin[1] = minZ;
-        config.bmin[2] = shift.y() - halfBoundsSize;
-        config.bmax[0] = shift.x() + halfBoundsSize;
-        config.bmax[1] = maxZ;
-        config.bmax[2] = shift.y() + halfBoundsSize;
-
-        return config;
+    float getHeight(const RecastSettings& settings,const osg::Vec3f& agentHalfExtents)
+    {
+        return 2.0f * agentHalfExtents.z() * settings.mRecastScaleFactor;
+    }
+
+    float getMaxClimb(const RecastSettings& settings)
+    {
+        return settings.mMaxClimb * settings.mRecastScaleFactor;
+    }
+
+    float getRadius(const RecastSettings& settings, const osg::Vec3f& agentHalfExtents)
+    {
+        return std::max(agentHalfExtents.x(), agentHalfExtents.y()) * std::sqrt(2) * settings.mRecastScaleFactor;
+    }
+
+    float getSwimLevel(const RecastSettings& settings, const float waterLevel, const float agentHalfExtentsZ)
+    {
+        return waterLevel - settings.mSwimHeightScale * agentHalfExtentsZ - agentHalfExtentsZ;;
     }
 
-    void createHeightfield(rcContext& context, rcHeightfield& solid, int width, int height, const float* bmin,
-        const float* bmax, const float cs, const float ch)
+    struct RecastParams
     {
-        const auto result = rcCreateHeightfield(&context, solid, width, height, bmin, bmax, cs, ch);
+        float mSampleDist = 0;
+        float mSampleMaxError = 0;
+        int mMaxEdgeLen = 0;
+        int mWalkableClimb = 0;
+        int mWalkableHeight = 0;
+        int mWalkableRadius = 0;
+    };
+
+    RecastParams makeRecastParams(const RecastSettings& settings, const osg::Vec3f& agentHalfExtents)
+    {
+        RecastParams result;
+
+        result.mWalkableHeight = static_cast<int>(std::ceil(getHeight(settings, agentHalfExtents) / settings.mCellHeight));
+        result.mWalkableClimb = static_cast<int>(std::floor(getMaxClimb(settings) / settings.mCellHeight));
+        result.mWalkableRadius = static_cast<int>(std::ceil(getRadius(settings, agentHalfExtents) / settings.mCellSize));
+        result.mMaxEdgeLen = static_cast<int>(std::round(static_cast<float>(settings.mMaxEdgeLen) / settings.mCellSize));
+        result.mSampleDist = settings.mDetailSampleDist < 0.9f ? 0 : settings.mCellSize * settings.mDetailSampleDist;
+        result.mSampleMaxError = settings.mCellHeight * settings.mDetailSampleMaxError;
+
+        return result;
+    }
+
+    void initHeightfield(rcContext& context, const TilePosition& tilePosition, float minZ, float maxZ,
+        const RecastSettings& settings, rcHeightfield& solid)
+    {
+        const int size = settings.mTileSize + settings.mBorderSize * 2;
+        const int width = size;
+        const int height = size;
+        const float halfBoundsSize = size * settings.mCellSize * 0.5f;
+        const osg::Vec2f shift = osg::Vec2f(tilePosition.x() + 0.5f, tilePosition.y() + 0.5f) * getTileSize(settings);
+        const osg::Vec3f bmin(shift.x() - halfBoundsSize, minZ, shift.y() - halfBoundsSize);
+        const osg::Vec3f bmax(shift.x() + halfBoundsSize, maxZ, shift.y() + halfBoundsSize);
+
+        const auto result = rcCreateHeightfield(&context, solid, width, height, bmin.ptr(), bmax.ptr(),
+                                                settings.mCellSize, settings.mCellHeight);
 
         if (!result)
             throw NavigatorException("Failed to create heightfield for navmesh");
     }
 
-    bool rasterizeTriangles(rcContext& context, const Mesh& mesh, const Settings& settings, const rcConfig& config,
-        rcHeightfield& solid)
+    bool rasterizeTriangles(rcContext& context, const Mesh& mesh, const RecastSettings& settings,
+        const RecastParams& params, rcHeightfield& solid)
     {
         std::vector<unsigned char> areas(mesh.getAreaTypes().begin(), mesh.getAreaTypes().end());
         std::vector<float> vertices = mesh.getVertices();
@@ -179,7 +177,7 @@ namespace
 
         rcClearUnwalkableTriangles(
             &context,
-            config.walkableSlopeAngle,
+            settings.mMaxSlope,
             vertices.data(),
             static_cast<int>(mesh.getVerticesCount()),
             mesh.getIndices().data(),
@@ -195,30 +193,18 @@ namespace
             areas.data(),
             static_cast<int>(areas.size()),
             solid,
-            config.walkableClimb
+            params.mWalkableClimb
         );
     }
 
-    bool rasterizeTriangles(rcContext& context, const Rectangle& rectangle, const rcConfig& config,
-        AreaType areaType, rcHeightfield& solid)
+    bool rasterizeTriangles(rcContext& context, const Rectangle& rectangle, AreaType areaType,
+        const RecastParams& params, rcHeightfield& solid)
     {
-        const osg::Vec2f tileBoundsMin(
-            std::clamp(rectangle.mBounds.mMin.x(), config.bmin[0], config.bmax[0]),
-            std::clamp(rectangle.mBounds.mMin.y(), config.bmin[2], config.bmax[2])
-        );
-        const osg::Vec2f tileBoundsMax(
-            std::clamp(rectangle.mBounds.mMax.x(), config.bmin[0], config.bmax[0]),
-            std::clamp(rectangle.mBounds.mMax.y(), config.bmin[2], config.bmax[2])
-        );
-
-        if (tileBoundsMax == tileBoundsMin)
-            return true;
-
         const std::array vertices {
-            tileBoundsMin.x(), rectangle.mHeight, tileBoundsMin.y(),
-            tileBoundsMin.x(), rectangle.mHeight, tileBoundsMax.y(),
-            tileBoundsMax.x(), rectangle.mHeight, tileBoundsMax.y(),
-            tileBoundsMax.x(), rectangle.mHeight, tileBoundsMin.y(),
+            rectangle.mBounds.mMin.x(), rectangle.mHeight, rectangle.mBounds.mMin.y(),
+            rectangle.mBounds.mMin.x(), rectangle.mHeight, rectangle.mBounds.mMax.y(),
+            rectangle.mBounds.mMax.x(), rectangle.mHeight, rectangle.mBounds.mMax.y(),
+            rectangle.mBounds.mMax.x(), rectangle.mHeight, rectangle.mBounds.mMin.y(),
         };
 
         const std::array indices {
@@ -236,31 +222,42 @@ namespace
             areas.data(),
             static_cast<int>(areas.size()),
             solid,
-            config.walkableClimb
+            params.mWalkableClimb
         );
     }
 
     bool rasterizeTriangles(rcContext& context, const osg::Vec3f& agentHalfExtents, const std::vector<CellWater>& water,
-        const Settings& settings, const rcConfig& config, rcHeightfield& solid)
+        const RecastSettings& settings, const RecastParams& params, const TileBounds& realTileBounds, rcHeightfield& solid)
     {
         for (const CellWater& cellWater : water)
         {
-            const Rectangle rectangle = getSwimRectangle(cellWater, settings, agentHalfExtents);
-            if (!rasterizeTriangles(context, rectangle, config, AreaType_water, solid))
-                return false;
+            const TileBounds cellTileBounds = maxCellTileBounds(cellWater.mCellPosition, cellWater.mWater.mCellSize);
+            if (auto intersection = getIntersection(realTileBounds, cellTileBounds))
+            {
+                const Rectangle rectangle {
+                    toNavMeshCoordinates(settings, *intersection),
+                    toNavMeshCoordinates(settings, getSwimLevel(settings, cellWater.mWater.mLevel, agentHalfExtents.z()))
+                };
+                if (!rasterizeTriangles(context, rectangle, AreaType_water, params, solid))
+                    return false;
+            }
         }
         return true;
     }
 
-    bool rasterizeTriangles(rcContext& context, const TileBounds& tileBounds, const std::vector<FlatHeightfield>& heightfields,
-        const Settings& settings, const rcConfig& config, rcHeightfield& solid)
+    bool rasterizeTriangles(rcContext& context, const TileBounds& realTileBounds, const std::vector<FlatHeightfield>& heightfields,
+        const RecastSettings& settings, const RecastParams& params, rcHeightfield& solid)
     {
         for (const FlatHeightfield& heightfield : heightfields)
         {
-            if (auto intersection = getIntersection(tileBounds, maxCellTileBounds(heightfield.mCellPosition, heightfield.mCellSize)))
+            const TileBounds cellTileBounds = maxCellTileBounds(heightfield.mCellPosition, heightfield.mCellSize);
+            if (auto intersection = getIntersection(realTileBounds, cellTileBounds))
             {
-                const Rectangle rectangle {*intersection, toNavMeshCoordinates(settings, heightfield.mHeight)};
-                if (!rasterizeTriangles(context, rectangle, config, AreaType_ground, solid))
+                const Rectangle rectangle {
+                    toNavMeshCoordinates(settings, *intersection),
+                    toNavMeshCoordinates(settings, heightfield.mHeight)
+                };
+                if (!rasterizeTriangles(context, rectangle, AreaType_ground, params, solid))
                     return false;
             }
         }
@@ -268,27 +265,25 @@ namespace
     }
 
     bool rasterizeTriangles(rcContext& context, const std::vector<Heightfield>& heightfields,
-        const Settings& settings, const rcConfig& config, rcHeightfield& solid)
+        const RecastSettings& settings, const RecastParams& params, rcHeightfield& solid)
     {
-        using BulletHelpers::makeProcessTriangleCallback;
-
         for (const Heightfield& heightfield : heightfields)
         {
             const Mesh mesh = makeMesh(heightfield);
-            if (!rasterizeTriangles(context, mesh, settings, config, solid))
+            if (!rasterizeTriangles(context, mesh, settings, params, solid))
                 return false;
         }
         return true;
     }
 
     bool rasterizeTriangles(rcContext& context, const TilePosition& tilePosition, const osg::Vec3f& agentHalfExtents,
-        const RecastMesh& recastMesh, const rcConfig& config, const Settings& settings, rcHeightfield& solid)
+        const RecastMesh& recastMesh, const RecastSettings& settings, const RecastParams& params, rcHeightfield& solid)
     {
-        return rasterizeTriangles(context, recastMesh.getMesh(), settings, config, solid)
-            && rasterizeTriangles(context, agentHalfExtents, recastMesh.getWater(), settings, config, solid)
-            && rasterizeTriangles(context, recastMesh.getHeightfields(), settings, config, solid)
-            && rasterizeTriangles(context, makeRealTileBoundsWithBorder(settings, tilePosition),
-                                  recastMesh.getFlatHeightfields(), settings, config, solid);
+        const TileBounds realTileBounds = makeRealTileBoundsWithBorder(settings, tilePosition);
+        return rasterizeTriangles(context, recastMesh.getMesh(), settings, params, solid)
+            && rasterizeTriangles(context, agentHalfExtents, recastMesh.getWater(), settings, params, realTileBounds, solid)
+            && rasterizeTriangles(context, recastMesh.getHeightfields(), settings, params, solid)
+            && rasterizeTriangles(context, realTileBounds, recastMesh.getFlatHeightfields(), settings, params, solid);
     }
 
     void buildCompactHeightfield(rcContext& context, const int walkableHeight, const int walkableClimb,
@@ -359,27 +354,25 @@ namespace
             polyMesh.flags[i] = getFlag(static_cast<AreaType>(polyMesh.areas[i]));
     }
 
-    bool fillPolyMesh(rcContext& context, const rcConfig& config, rcHeightfield& solid, rcPolyMesh& polyMesh,
-        rcPolyMeshDetail& polyMeshDetail)
+    bool fillPolyMesh(rcContext& context, const RecastSettings& settings, const RecastParams& params,
+        rcHeightfield& solid, rcPolyMesh& polyMesh, rcPolyMeshDetail& polyMeshDetail)
     {
         rcCompactHeightfield compact;
-        compact.dist = nullptr;
-        buildCompactHeightfield(context, config.walkableHeight, config.walkableClimb, solid, compact);
+        buildCompactHeightfield(context, params.mWalkableHeight, params.mWalkableClimb, solid, compact);
 
-        erodeWalkableArea(context, config.walkableRadius, compact);
+        erodeWalkableArea(context, params.mWalkableRadius, compact);
         buildDistanceField(context, compact);
-        buildRegions(context, compact, config.borderSize, config.minRegionArea, config.mergeRegionArea);
+        buildRegions(context, compact, settings.mBorderSize, settings.mRegionMinArea, settings.mRegionMergeArea);
 
         rcContourSet contourSet;
-        buildContours(context, compact, config.maxSimplificationError, config.maxEdgeLen, contourSet);
+        buildContours(context, compact, settings.mMaxSimplificationError, params.mMaxEdgeLen, contourSet);
 
         if (contourSet.nconts == 0)
             return false;
 
-        buildPolyMesh(context, contourSet, config.maxVertsPerPoly, polyMesh);
+        buildPolyMesh(context, contourSet, settings.mMaxVertsPerPoly, polyMesh);
 
-        buildPolyMeshDetail(context, polyMesh, compact, config.detailSampleDist, config.detailSampleMaxError,
-                            polyMeshDetail);
+        buildPolyMeshDetail(context, polyMesh, compact, params.mSampleDist, params.mSampleMaxError, polyMeshDetail);
 
         setPolyMeshFlags(polyMesh);
 
@@ -395,7 +388,7 @@ namespace
         return power;
     }
 
-    std::pair<float, float> getBoundsByZ(const RecastMesh& recastMesh, const osg::Vec3f& agentHalfExtents, const Settings& settings)
+    std::pair<float, float> getBoundsByZ(const RecastMesh& recastMesh, const osg::Vec3f& agentHalfExtents, const RecastSettings& settings)
     {
         float minZ = 0;
         float maxZ = 0;
@@ -437,38 +430,39 @@ namespace
 namespace DetourNavigator
 {
     std::unique_ptr<PreparedNavMeshData> prepareNavMeshTileData(const RecastMesh& recastMesh,
-        const TilePosition& tilePosition, const osg::Vec3f& agentHalfExtents, const Settings& settings)
+        const TilePosition& tilePosition, const osg::Vec3f& agentHalfExtents, const RecastSettings& settings)
     {
-        const auto [minZ, maxZ] = getBoundsByZ(recastMesh, agentHalfExtents, settings);
-
         rcContext context;
-        const auto config = makeConfig(agentHalfExtents, tilePosition, toNavMeshCoordinates(settings, minZ),
-                                       toNavMeshCoordinates(settings, maxZ), settings);
+
+        const auto [minZ, maxZ] = getBoundsByZ(recastMesh, agentHalfExtents, settings);
 
         rcHeightfield solid;
-        createHeightfield(context, solid, config.width, config.height, config.bmin, config.bmax, config.cs, config.ch);
+        initHeightfield(context, tilePosition, toNavMeshCoordinates(settings, minZ),
+                        toNavMeshCoordinates(settings, maxZ), settings, solid);
 
-        if (!rasterizeTriangles(context, tilePosition, agentHalfExtents, recastMesh, config, settings, solid))
+        const RecastParams params = makeRecastParams(settings, agentHalfExtents);
+
+        if (!rasterizeTriangles(context, tilePosition, agentHalfExtents, recastMesh, settings, params, solid))
             return nullptr;
 
-        rcFilterLowHangingWalkableObstacles(&context, config.walkableClimb, solid);
-        rcFilterLedgeSpans(&context, config.walkableHeight, config.walkableClimb, solid);
-        rcFilterWalkableLowHeightSpans(&context, config.walkableHeight, solid);
+        rcFilterLowHangingWalkableObstacles(&context, params.mWalkableClimb, solid);
+        rcFilterLedgeSpans(&context, params.mWalkableHeight, params.mWalkableClimb, solid);
+        rcFilterWalkableLowHeightSpans(&context, params.mWalkableHeight, solid);
 
         std::unique_ptr<PreparedNavMeshData> result = std::make_unique<PreparedNavMeshData>();
 
-        if (!fillPolyMesh(context, config, solid, result->mPolyMesh, result->mPolyMeshDetail))
+        if (!fillPolyMesh(context, settings, params, solid, result->mPolyMesh, result->mPolyMeshDetail))
             return nullptr;
 
-        result->mCellSize = config.cs;
-        result->mCellHeight = config.ch;
+        result->mCellSize = settings.mCellSize;
+        result->mCellHeight = settings.mCellHeight;
 
         return result;
     }
 
     NavMeshData makeNavMeshTileData(const PreparedNavMeshData& data,
         const std::vector<OffMeshConnection>& offMeshConnections, const osg::Vec3f& agentHalfExtents,
-        const TilePosition& tile, const Settings& settings)
+        const TilePosition& tile, const RecastSettings& settings)
     {
         const auto offMeshConVerts = getOffMeshVerts(offMeshConnections);
         const std::vector<float> offMeshConRad(offMeshConnections.size(), getRadius(settings, agentHalfExtents));
@@ -524,7 +518,7 @@ namespace DetourNavigator
         // Max tiles and max polys affect how the tile IDs are caculated.
         // There are 22 bits available for identifying a tile and a polygon.
         const int polysAndTilesBits = 22;
-        const auto polysBits = getMinValuableBitsNumber(settings.mMaxPolys);
+        const auto polysBits = getMinValuableBitsNumber(settings.mDetour.mMaxPolys);
 
         if (polysBits >= polysAndTilesBits)
             throw InvalidArgument("Too many polygons per tile");
@@ -533,8 +527,8 @@ namespace DetourNavigator
 
         dtNavMeshParams params;
         std::fill_n(params.orig, 3, 0.0f);
-        params.tileWidth = settings.mTileSize * settings.mCellSize;
-        params.tileHeight = settings.mTileSize * settings.mCellSize;
+        params.tileWidth = settings.mRecast.mTileSize * settings.mRecast.mCellSize;
+        params.tileHeight = settings.mRecast.mTileSize * settings.mRecast.mCellSize;
         params.maxTiles = 1 << tilesBits;
         params.maxPolys = 1 << polysBits;
 
@@ -550,72 +544,4 @@ namespace DetourNavigator
 
         return navMesh;
     }
-
-    UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh,
-        const TilePosition& changedTile, const TilePosition& playerTile,
-        const std::vector<OffMeshConnection>& offMeshConnections, const Settings& settings,
-        const SharedNavMeshCacheItem& navMeshCacheItem, NavMeshTilesCache& navMeshTilesCache, UpdateType updateType)
-    {
-        Log(Debug::Debug) << std::fixed << std::setprecision(2) <<
-            "Update NavMesh with multiple tiles:" <<
-            " agentHeight=" << getHeight(settings, agentHalfExtents) <<
-            " agentMaxClimb=" << getMaxClimb(settings) <<
-            " agentRadius=" << getRadius(settings, agentHalfExtents) <<
-            " changedTile=(" << changedTile << ")" <<
-            " playerTile=(" << playerTile << ")" <<
-            " changedTileDistance=" << getDistance(changedTile, playerTile);
-
-        if (!recastMesh)
-        {
-            Log(Debug::Debug) << "Ignore add tile: recastMesh is null";
-            return navMeshCacheItem->lock()->removeTile(changedTile);
-        }
-
-        if (recastMesh->getMesh().getIndices().empty() && recastMesh->getWater().empty()
-                && recastMesh->getHeightfields().empty() && recastMesh->getFlatHeightfields().empty())
-        {
-            Log(Debug::Debug) << "Ignore add tile: recastMesh is empty";
-            return navMeshCacheItem->lock()->removeTile(changedTile);
-        }
-
-        const dtNavMeshParams params = *navMeshCacheItem->lockConst()->getImpl().getParams();
-
-        if (!shouldAddTile(changedTile, playerTile, std::min(settings.mMaxTilesNumber, params.maxTiles)))
-        {
-            Log(Debug::Debug) << "Ignore add tile: too far from player";
-            return navMeshCacheItem->lock()->removeTile(changedTile);
-        }
-
-        auto cachedNavMeshData = navMeshTilesCache.get(agentHalfExtents, changedTile, *recastMesh);
-        bool cached = static_cast<bool>(cachedNavMeshData);
-
-        if (!cachedNavMeshData)
-        {
-            auto prepared = prepareNavMeshTileData(*recastMesh, changedTile, agentHalfExtents, settings);
-
-            if (prepared == nullptr)
-            {
-                Log(Debug::Debug) << "Ignore add tile: NavMeshData is null";
-                return navMeshCacheItem->lock()->removeTile(changedTile);
-            }
-
-            if (updateType == UpdateType::Temporary)
-                return navMeshCacheItem->lock()->updateTile(changedTile, NavMeshTilesCache::Value(),
-                    makeNavMeshTileData(*prepared, offMeshConnections, agentHalfExtents, changedTile, settings));
-
-            cachedNavMeshData = navMeshTilesCache.set(agentHalfExtents, changedTile, *recastMesh, std::move(prepared));
-
-            if (!cachedNavMeshData)
-            {
-                Log(Debug::Debug) << "Navigator cache overflow";
-                return navMeshCacheItem->lock()->updateTile(changedTile, NavMeshTilesCache::Value(),
-                    makeNavMeshTileData(*prepared, offMeshConnections, agentHalfExtents, changedTile, settings));
-            }
-        }
-
-        const auto updateStatus = navMeshCacheItem->lock()->updateTile(changedTile, std::move(cachedNavMeshData),
-            makeNavMeshTileData(cachedNavMeshData.get(), offMeshConnections, agentHalfExtents, changedTile, settings));
-
-        return UpdateNavMeshStatusBuilder(updateStatus).cached(cached).getResult();
-    }
 }

components/detournavigator/makenavmesh.hpp

@@ -7,6 +7,9 @@
 #include "sharednavmesh.hpp"
 #include "navmeshtilescache.hpp"
 #include "offmeshconnection.hpp"
+#include "navmeshdb.hpp"
+
+#include <components/misc/guarded.hpp>
 
 #include <osg/Vec3f>
 
@@ -14,6 +17,7 @@
 #include <vector>
 
 class dtNavMesh;
+struct rcConfig;
 
 namespace DetourNavigator
 {
@@ -38,25 +42,22 @@ namespace DetourNavigator
         return expectedTilesCount <= maxTiles;
     }
 
-    std::unique_ptr<PreparedNavMeshData> prepareNavMeshTileData(const RecastMesh& recastMesh, const TilePosition& tile,
-        const Bounds& bounds, const osg::Vec3f& agentHalfExtents, const Settings& settings);
+    inline bool isEmpty(const RecastMesh& recastMesh)
+    {
+        return recastMesh.getMesh().getIndices().empty()
+                && recastMesh.getWater().empty()
+                && recastMesh.getHeightfields().empty()
+                && recastMesh.getFlatHeightfields().empty();
+    }
+
+    std::unique_ptr<PreparedNavMeshData> prepareNavMeshTileData(const RecastMesh& recastMesh,
+        const TilePosition& tilePosition, const osg::Vec3f& agentHalfExtents, const RecastSettings& settings);
 
     NavMeshData makeNavMeshTileData(const PreparedNavMeshData& data,
         const std::vector<OffMeshConnection>& offMeshConnections, const osg::Vec3f& agentHalfExtents,
-        const TilePosition& tile, const Settings& settings);
+        const TilePosition& tile, const RecastSettings& settings);
 
     NavMeshPtr makeEmptyNavMesh(const Settings& settings);
-
-    enum class UpdateType
-    {
-        Persistent,
-        Temporary
-    };
-
-    UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh,
-        const TilePosition& changedTile, const TilePosition& playerTile,
-        const std::vector<OffMeshConnection>& offMeshConnections, const Settings& settings,
-        const SharedNavMeshCacheItem& navMeshCacheItem, NavMeshTilesCache& navMeshTilesCache, UpdateType updateType);
 }
 
 #endif

components/detournavigator/navigator.cpp

@@ -5,10 +5,15 @@
 
 namespace DetourNavigator
 {
-    std::unique_ptr<Navigator> makeNavigator(const Settings& settings)
+    std::unique_ptr<Navigator> makeNavigator(const Settings& settings, const std::string& userDataPath)
     {
         DetourNavigator::RecastGlobalAllocator::init();
-        return std::make_unique<NavigatorImpl>(settings);
+
+        std::unique_ptr<NavMeshDb> db;
+        if (settings.mEnableNavMeshDiskCache)
+            db = std::make_unique<NavMeshDb>(userDataPath + "/navmesh.db");
+
+        return std::make_unique<NavigatorImpl>(settings, std::move(db));
     }
 
     std::unique_ptr<Navigator> makeNavigatorStub()

components/detournavigator/navigator.hpp

@@ -6,9 +6,12 @@
 #include "recastmeshtiles.hpp"
 #include "waitconditiontype.hpp"
 #include "heightfieldshape.hpp"
+#include "objecttransform.hpp"
 
 #include <components/resource/bulletshape.hpp>
 
+#include <string_view>
+
 namespace ESM
 {
     struct Cell;
@@ -27,10 +30,14 @@ namespace DetourNavigator
     struct ObjectShapes
     {
         osg::ref_ptr<const Resource::BulletShapeInstance> mShapeInstance;
+        ObjectTransform mTransform;
 
-        ObjectShapes(const osg::ref_ptr<const Resource::BulletShapeInstance>& shapeInstance)
+        ObjectShapes(const osg::ref_ptr<const Resource::BulletShapeInstance>& shapeInstance, const ObjectTransform& transform)
             : mShapeInstance(shapeInstance)
-        {}
+            , mTransform(transform)
+        {
+            assert(mShapeInstance != nullptr);
+        }
     };
 
     struct DoorShapes : ObjectShapes
@@ -39,8 +46,8 @@ namespace DetourNavigator
         osg::Vec3f mConnectionEnd;
 
         DoorShapes(const osg::ref_ptr<const Resource::BulletShapeInstance>& shapeInstance,
-                   const osg::Vec3f& connectionStart,const osg::Vec3f& connectionEnd)
-            : ObjectShapes(shapeInstance)
+                   const ObjectTransform& transform, const osg::Vec3f& connectionStart, const osg::Vec3f& connectionEnd)
+            : ObjectShapes(shapeInstance, transform)
             , mConnectionStart(connectionStart)
             , mConnectionEnd(connectionEnd)
         {}
@@ -70,6 +77,12 @@ namespace DetourNavigator
          */
         virtual void removeAgent(const osg::Vec3f& agentHalfExtents) = 0;
 
+        /**
+         * @brief setWorldspace should be called before adding object from new worldspace
+         * @param worldspace
+         */
+        virtual void setWorldspace(std::string_view worldspace) = 0;
+
         /**
          * @brief addObject is used to add complex object with allowed to walk and avoided to walk shapes
          * @param id is used to distinguish different objects
@@ -183,7 +196,7 @@ namespace DetourNavigator
         virtual float getMaxNavmeshAreaRealRadius() const = 0;
     };
 
-    std::unique_ptr<Navigator> makeNavigator(const Settings& settings);
+    std::unique_ptr<Navigator> makeNavigator(const Settings& settings, const std::string& userDataPath);
 
     std::unique_ptr<Navigator> makeNavigatorStub();
 }

components/detournavigator/navigatorimpl.cpp

@@ -8,9 +8,9 @@
 
 namespace DetourNavigator
 {
-    NavigatorImpl::NavigatorImpl(const Settings& settings)
+    NavigatorImpl::NavigatorImpl(const Settings& settings, std::unique_ptr<NavMeshDb>&& db)
         : mSettings(settings)
-        , mNavMeshManager(mSettings)
+        , mNavMeshManager(mSettings, std::move(db))
         , mUpdatesEnabled(true)
     {
     }
@@ -32,14 +32,19 @@ namespace DetourNavigator
             --it->second;
     }
 
+    void NavigatorImpl::setWorldspace(std::string_view worldspace)
+    {
+        mNavMeshManager.setWorldspace(worldspace);
+    }
+
     bool NavigatorImpl::addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
     {
-        CollisionShape collisionShape {shapes.mShapeInstance, *shapes.mShapeInstance->mCollisionShape};
+        const CollisionShape collisionShape(shapes.mShapeInstance, *shapes.mShapeInstance->mCollisionShape, shapes.mTransform);
         bool result = mNavMeshManager.addObject(id, collisionShape, transform, AreaType_ground);
         if (const btCollisionShape* const avoidShape = shapes.mShapeInstance->mAvoidCollisionShape.get())
         {
             const ObjectId avoidId(avoidShape);
-            CollisionShape avoidCollisionShape {shapes.mShapeInstance, *avoidShape};
+            const CollisionShape avoidCollisionShape(shapes.mShapeInstance, *avoidShape, shapes.mTransform);
             if (mNavMeshManager.addObject(avoidId, avoidCollisionShape, transform, AreaType_null))
             {
                 updateAvoidShapeId(id, avoidId);
@@ -53,8 +58,8 @@ namespace DetourNavigator
     {
         if (addObject(id, static_cast<const ObjectShapes&>(shapes), transform))
         {
-            const osg::Vec3f start = toNavMeshCoordinates(mSettings, shapes.mConnectionStart);
-            const osg::Vec3f end = toNavMeshCoordinates(mSettings, shapes.mConnectionEnd);
+            const osg::Vec3f start = toNavMeshCoordinates(mSettings.mRecast, shapes.mConnectionStart);
+            const osg::Vec3f end = toNavMeshCoordinates(mSettings.mRecast, shapes.mConnectionEnd);
             mNavMeshManager.addOffMeshConnection(id, start, end, AreaType_door);
             mNavMeshManager.addOffMeshConnection(id, end, start, AreaType_door);
             return true;
@@ -64,12 +69,12 @@ namespace DetourNavigator
 
     bool NavigatorImpl::updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
     {
-        const CollisionShape collisionShape {shapes.mShapeInstance, *shapes.mShapeInstance->mCollisionShape};
+        const CollisionShape collisionShape(shapes.mShapeInstance, *shapes.mShapeInstance->mCollisionShape, shapes.mTransform);
         bool result = mNavMeshManager.updateObject(id, collisionShape, transform, AreaType_ground);
         if (const btCollisionShape* const avoidShape = shapes.mShapeInstance->mAvoidCollisionShape.get())
         {
             const ObjectId avoidId(avoidShape);
-            const CollisionShape avoidCollisionShape {shapes.mShapeInstance, *avoidShape};
+            const CollisionShape avoidCollisionShape(shapes.mShapeInstance, *avoidShape, shapes.mTransform);
             if (mNavMeshManager.updateObject(avoidId, avoidCollisionShape, transform, AreaType_null))
             {
                 updateAvoidShapeId(id, avoidId);
@@ -126,8 +131,8 @@ namespace DetourNavigator
             const auto dst = Misc::Convert::makeOsgVec3f(converter.toWorldPoint(pathgrid.mPoints[edge.mV1]));
             mNavMeshManager.addOffMeshConnection(
                 ObjectId(&pathgrid),
-                toNavMeshCoordinates(mSettings, src),
-                toNavMeshCoordinates(mSettings, dst),
+                toNavMeshCoordinates(mSettings.mRecast, src),
+                toNavMeshCoordinates(mSettings.mRecast, dst),
                 AreaType_pathgrid
             );
         }
@@ -149,7 +154,7 @@ namespace DetourNavigator
 
     void NavigatorImpl::updatePlayerPosition(const osg::Vec3f& playerPosition)
     {
-        const TilePosition tilePosition = getTilePosition(mSettings, toNavMeshCoordinates(mSettings, playerPosition));
+        const TilePosition tilePosition = getTilePosition(mSettings.mRecast, toNavMeshCoordinates(mSettings.mRecast, playerPosition));
         if (mLastPlayerPosition.has_value() && *mLastPlayerPosition == tilePosition)
             return;
         update(playerPosition);
@@ -225,6 +230,6 @@ namespace DetourNavigator
     float NavigatorImpl::getMaxNavmeshAreaRealRadius() const
     {
         const auto& settings = getSettings();
-        return getRealTileSize(settings) * getMaxNavmeshAreaRadius(settings);
+        return getRealTileSize(settings.mRecast) * getMaxNavmeshAreaRadius(settings);
     }
 }

components/detournavigator/navigatorimpl.hpp

@@ -5,6 +5,7 @@
 #include "navmeshmanager.hpp"
 
 #include <set>
+#include <memory>
 
 namespace DetourNavigator
 {
@@ -15,12 +16,14 @@ namespace DetourNavigator
          * @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.
          */
-        explicit NavigatorImpl(const Settings& settings);
+        explicit NavigatorImpl(const Settings& settings, std::unique_ptr<NavMeshDb>&& db);
 
         void addAgent(const osg::Vec3f& agentHalfExtents) override;
 
         void removeAgent(const osg::Vec3f& agentHalfExtents) override;
 
+        void setWorldspace(std::string_view worldspace) 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;

components/detournavigator/navigatorstub.hpp

@@ -19,6 +19,8 @@ namespace DetourNavigator
 
         void removeAgent(const osg::Vec3f& /*agentHalfExtents*/) override {}
 
+        void setWorldspace(std::string_view /*worldspace*/) override {}
+
         bool addObject(const ObjectId /*id*/, const ObjectShapes& /*shapes*/, const btTransform& /*transform*/) override
         {
             return false;

components/detournavigator/navigatorutils.cpp

@@ -13,11 +13,11 @@ namespace DetourNavigator
             return std::nullopt;
         const auto settings = navigator.getSettings();
         const auto result = DetourNavigator::findRandomPointAroundCircle(navMesh->lockConst()->getImpl(),
-            toNavMeshCoordinates(settings, agentHalfExtents), toNavMeshCoordinates(settings, start),
-            toNavMeshCoordinates(settings, maxRadius), includeFlags, settings);
+            toNavMeshCoordinates(settings.mRecast, agentHalfExtents), toNavMeshCoordinates(settings.mRecast, start),
+            toNavMeshCoordinates(settings.mRecast, maxRadius), includeFlags, settings.mDetour);
         if (!result)
             return std::nullopt;
-        return std::optional<osg::Vec3f>(fromNavMeshCoordinates(settings, *result));
+        return std::optional<osg::Vec3f>(fromNavMeshCoordinates(settings.mRecast, *result));
     }
 
     std::optional<osg::Vec3f> raycast(const Navigator& navigator, const osg::Vec3f& agentHalfExtents, const osg::Vec3f& start,
@@ -28,10 +28,10 @@ namespace DetourNavigator
             return std::nullopt;
         const auto settings = navigator.getSettings();
         const auto result = DetourNavigator::raycast(navMesh->lockConst()->getImpl(),
-            toNavMeshCoordinates(settings, agentHalfExtents), toNavMeshCoordinates(settings, start),
-            toNavMeshCoordinates(settings, end), includeFlags, settings);
+            toNavMeshCoordinates(settings.mRecast, agentHalfExtents), toNavMeshCoordinates(settings.mRecast, start),
+            toNavMeshCoordinates(settings.mRecast, end), includeFlags, settings.mDetour);
         if (!result)
             return std::nullopt;
-        return fromNavMeshCoordinates(settings, *result);
+        return fromNavMeshCoordinates(settings.mRecast, *result);
     }
 }

components/detournavigator/navigatorutils.hpp

@@ -37,9 +37,9 @@ namespace DetourNavigator
         if (navMesh == nullptr)
             return Status::NavMeshNotFound;
         const auto settings = navigator.getSettings();
-        return findSmoothPath(navMesh->lockConst()->getImpl(), toNavMeshCoordinates(settings, agentHalfExtents),
-            toNavMeshCoordinates(settings, stepSize), toNavMeshCoordinates(settings, start),
-            toNavMeshCoordinates(settings, end), includeFlags, areaCosts, settings, endTolerance, out);
+        return findSmoothPath(navMesh->lockConst()->getImpl(), toNavMeshCoordinates(settings.mRecast, agentHalfExtents),
+            toNavMeshCoordinates(settings.mRecast, stepSize), toNavMeshCoordinates(settings.mRecast, start),
+            toNavMeshCoordinates(settings.mRecast, end), includeFlags, areaCosts, settings, endTolerance, out);
     }
 
     /**

components/detournavigator/navmeshcacheitem.cpp

@@ -50,7 +50,8 @@ namespace DetourNavigator
         {
             return UpdateNavMeshStatus::ignored;
         }
-        const auto removed = ::removeTile(*mImpl, position);
+        bool removed = ::removeTile(*mImpl, position);
+        removed = mEmptyTiles.erase(position) > 0 || removed;
         const auto addStatus = addTile(*mImpl, navMeshData.mValue.get(), navMeshData.mSize);
         if (dtStatusSucceed(addStatus))
         {
@@ -82,7 +83,8 @@ namespace DetourNavigator
 
     UpdateNavMeshStatus NavMeshCacheItem::removeTile(const TilePosition& position)
     {
-        const auto removed = ::removeTile(*mImpl, position);
+        bool removed = ::removeTile(*mImpl, position);
+        removed = mEmptyTiles.erase(position) > 0 || removed;
         if (removed)
         {
             mUsedTiles.erase(position);
@@ -90,4 +92,21 @@ namespace DetourNavigator
         }
         return UpdateNavMeshStatusBuilder().removed(removed).getResult();
     }
+
+    UpdateNavMeshStatus NavMeshCacheItem::markAsEmpty(const TilePosition& position)
+    {
+        bool removed = ::removeTile(*mImpl, position);
+        removed = mEmptyTiles.insert(position).second || removed;
+        if (removed)
+        {
+            mUsedTiles.erase(position);
+            ++mVersion.mRevision;
+        }
+        return UpdateNavMeshStatusBuilder().removed(removed).getResult();
+    }
+
+    bool NavMeshCacheItem::isEmptyTile(const TilePosition& position) const
+    {
+        return mEmptyTiles.find(position) != mEmptyTiles.end();
+    }
 }

components/detournavigator/navmeshcacheitem.hpp

@@ -12,6 +12,7 @@
 
 #include <map>
 #include <ostream>
+#include <set>
 
 struct dtMeshTile;
 
@@ -147,6 +148,10 @@ namespace DetourNavigator
 
         UpdateNavMeshStatus removeTile(const TilePosition& position);
 
+        UpdateNavMeshStatus markAsEmpty(const TilePosition& position);
+
+        bool isEmptyTile(const TilePosition& position) const;
+
         template <class Function>
         void forEachUsedTile(Function&& function) const
         {
@@ -166,6 +171,7 @@ namespace DetourNavigator
         NavMeshPtr mImpl;
         Version mVersion;
         std::map<TilePosition, Tile> mUsedTiles;
+        std::set<TilePosition> mEmptyTiles;
     };
 
     using GuardedNavMeshCacheItem = Misc::ScopeGuarded<NavMeshCacheItem>;

components/detournavigator/navmeshdb.cpp

@@ -0,0 +1,296 @@
+#include "navmeshdb.hpp"
+
+#include <components/debug/debuglog.hpp>
+#include <components/misc/compression.hpp>
+#include <components/sqlite3/db.hpp>
+#include <components/sqlite3/request.hpp>
+
+#include <DetourAlloc.h>
+
+#include <sqlite3.h>
+
+#include <cstddef>
+#include <string>
+#include <string_view>
+#include <vector>
+
+namespace DetourNavigator
+{
+    namespace
+    {
+        constexpr const char schema[] = R"(
+            BEGIN TRANSACTION;
+
+            CREATE TABLE IF NOT EXISTS tiles (
+                tile_id INTEGER PRIMARY KEY,
+                revision INTEGER NOT NULL DEFAULT 1,
+                worldspace TEXT NOT NULL,
+                tile_position_x INTEGER NOT NULL,
+                tile_position_y INTEGER NOT NULL,
+                version INTEGER NOT NULL,
+                input BLOB,
+                data BLOB
+            );
+
+            CREATE UNIQUE INDEX IF NOT EXISTS index_unique_tiles_by_worldspace_and_tile_position_and_input
+                ON tiles (worldspace, tile_position_x, tile_position_y, input);
+
+            CREATE TABLE IF NOT EXISTS shapes (
+                shape_id INTEGER PRIMARY KEY,
+                name TEXT NOT NULL,
+                type INTEGER NOT NULL,
+                hash BLOB NOT NULL
+            );
+
+            CREATE UNIQUE INDEX IF NOT EXISTS index_unique_shapes_by_name_and_type_and_hash
+                ON shapes (name, type, hash);
+
+            COMMIT;
+        )";
+
+        constexpr std::string_view getMaxTileIdQuery = R"(
+            SELECT max(tile_id) FROM tiles
+        )";
+
+        constexpr std::string_view findTileQuery = R"(
+            SELECT tile_id, version
+              FROM tiles
+             WHERE worldspace = :worldspace
+               AND tile_position_x = :tile_position_x
+               AND tile_position_y = :tile_position_y
+               AND input = :input
+        )";
+
+        constexpr std::string_view getTileDataQuery = R"(
+            SELECT tile_id, version, data
+              FROM tiles
+             WHERE worldspace = :worldspace
+               AND tile_position_x = :tile_position_x
+               AND tile_position_y = :tile_position_y
+               AND input = :input
+        )";
+
+        constexpr std::string_view insertTileQuery = R"(
+            INSERT INTO tiles ( tile_id,  worldspace,  version,  tile_position_x,  tile_position_y,  input,  data)
+                   VALUES     (:tile_id, :worldspace, :version, :tile_position_x, :tile_position_y, :input, :data)
+        )";
+
+        constexpr std::string_view updateTileQuery = R"(
+            UPDATE tiles
+               SET version = :version,
+                   data = :data,
+                   revision = revision + 1
+             WHERE tile_id = :tile_id
+        )";
+
+        constexpr std::string_view getMaxShapeIdQuery = R"(
+            SELECT max(shape_id) FROM shapes
+        )";
+
+        constexpr std::string_view findShapeIdQuery = R"(
+            SELECT shape_id
+              FROM shapes
+             WHERE name = :name
+               AND type = :type
+               AND hash = :hash
+        )";
+
+        constexpr std::string_view insertShapeQuery = R"(
+            INSERT INTO shapes ( shape_id,  name,  type,  hash)
+                   VALUES      (:shape_id, :name, :type, :hash)
+        )";
+    }
+
+    std::ostream& operator<<(std::ostream& stream, ShapeType value)
+    {
+        switch (value)
+        {
+            case ShapeType::Collision: return stream << "collision";
+            case ShapeType::Avoid: return stream << "avoid";
+        }
+        return stream << "unknown shape type (" << static_cast<std::underlying_type_t<ShapeType>>(value) << ")";
+    }
+
+    NavMeshDb::NavMeshDb(std::string_view path)
+        : mDb(Sqlite3::makeDb(path, schema))
+        , mGetMaxTileId(*mDb, DbQueries::GetMaxTileId {})
+        , mFindTile(*mDb, DbQueries::FindTile {})
+        , mGetTileData(*mDb, DbQueries::GetTileData {})
+        , mInsertTile(*mDb, DbQueries::InsertTile {})
+        , mUpdateTile(*mDb, DbQueries::UpdateTile {})
+        , mGetMaxShapeId(*mDb, DbQueries::GetMaxShapeId {})
+        , mFindShapeId(*mDb, DbQueries::FindShapeId {})
+        , mInsertShape(*mDb, DbQueries::InsertShape {})
+    {
+    }
+
+    Sqlite3::Transaction NavMeshDb::startTransaction()
+    {
+        return Sqlite3::Transaction(*mDb);
+    }
+
+    TileId NavMeshDb::getMaxTileId()
+    {
+        TileId tileId {0};
+        request(*mDb, mGetMaxTileId, &tileId, 1);
+        return tileId;
+    }
+
+    std::optional<Tile> NavMeshDb::findTile(const std::string& worldspace,
+        const TilePosition& tilePosition, const std::vector<std::byte>& input)
+    {
+        Tile result;
+        auto row = std::tie(result.mTileId, result.mVersion);
+        const std::vector<std::byte> compressedInput = Misc::compress(input);
+        if (&row == request(*mDb, mFindTile, &row, 1, worldspace, tilePosition, compressedInput))
+            return {};
+        return result;
+    }
+
+    std::optional<TileData> NavMeshDb::getTileData(const std::string& worldspace,
+        const TilePosition& tilePosition, const std::vector<std::byte>& input)
+    {
+        TileData result;
+        auto row = std::tie(result.mTileId, result.mVersion, result.mData);
+        const std::vector<std::byte> compressedInput = Misc::compress(input);
+        if (&row == request(*mDb, mGetTileData, &row, 1, worldspace, tilePosition, compressedInput))
+            return {};
+        result.mData = Misc::decompress(result.mData);
+        return result;
+    }
+
+    int NavMeshDb::insertTile(TileId tileId, const std::string& worldspace, const TilePosition& tilePosition,
+        TileVersion version, const std::vector<std::byte>& input, const std::vector<std::byte>& data)
+    {
+        const std::vector<std::byte> compressedInput = Misc::compress(input);
+        const std::vector<std::byte> compressedData = Misc::compress(data);
+        return execute(*mDb, mInsertTile, tileId, worldspace, tilePosition, version, compressedInput, compressedData);
+    }
+
+    int NavMeshDb::updateTile(TileId tileId, TileVersion version, const std::vector<std::byte>& data)
+    {
+        const std::vector<std::byte> compressedData = Misc::compress(data);
+        return execute(*mDb, mUpdateTile, tileId, version, compressedData);
+    }
+
+    ShapeId NavMeshDb::getMaxShapeId()
+    {
+        ShapeId shapeId {0};
+        request(*mDb, mGetMaxShapeId, &shapeId, 1);
+        return shapeId;
+    }
+
+    std::optional<ShapeId> NavMeshDb::findShapeId(const std::string& name, ShapeType type,
+        const Sqlite3::ConstBlob& hash)
+    {
+        ShapeId shapeId;
+        if (&shapeId == request(*mDb, mFindShapeId, &shapeId, 1, name, type, hash))
+            return {};
+        return shapeId;
+    }
+
+    int NavMeshDb::insertShape(ShapeId shapeId, const std::string& name, ShapeType type,
+        const Sqlite3::ConstBlob& hash)
+    {
+        return execute(*mDb, mInsertShape, shapeId, name, type, hash);
+    }
+
+    namespace DbQueries
+    {
+        std::string_view GetMaxTileId::text() noexcept
+        {
+            return getMaxTileIdQuery;
+        }
+
+        std::string_view FindTile::text() noexcept
+        {
+            return findTileQuery;
+        }
+
+        void FindTile::bind(sqlite3& db, sqlite3_stmt& statement, const std::string& worldspace,
+            const TilePosition& tilePosition, const std::vector<std::byte>& input)
+        {
+            Sqlite3::bindParameter(db, statement, ":worldspace", worldspace);
+            Sqlite3::bindParameter(db, statement, ":tile_position_x", tilePosition.x());
+            Sqlite3::bindParameter(db, statement, ":tile_position_y", tilePosition.y());
+            Sqlite3::bindParameter(db, statement, ":input", input);
+        }
+
+        std::string_view GetTileData::text() noexcept
+        {
+            return getTileDataQuery;
+        }
+
+        void GetTileData::bind(sqlite3& db, sqlite3_stmt& statement, const std::string& worldspace,
+            const TilePosition& tilePosition, const std::vector<std::byte>& input)
+        {
+            Sqlite3::bindParameter(db, statement, ":worldspace", worldspace);
+            Sqlite3::bindParameter(db, statement, ":tile_position_x", tilePosition.x());
+            Sqlite3::bindParameter(db, statement, ":tile_position_y", tilePosition.y());
+            Sqlite3::bindParameter(db, statement, ":input", input);
+        }
+
+        std::string_view InsertTile::text() noexcept
+        {
+            return insertTileQuery;
+        }
+
+        void InsertTile::bind(sqlite3& db, sqlite3_stmt& statement, TileId tileId, const std::string& worldspace,
+            const TilePosition& tilePosition, TileVersion version, const std::vector<std::byte>& input,
+            const std::vector<std::byte>& data)
+        {
+            Sqlite3::bindParameter(db, statement, ":tile_id", tileId);
+            Sqlite3::bindParameter(db, statement, ":worldspace", worldspace);
+            Sqlite3::bindParameter(db, statement, ":tile_position_x", tilePosition.x());
+            Sqlite3::bindParameter(db, statement, ":tile_position_y", tilePosition.y());
+            Sqlite3::bindParameter(db, statement, ":version", version);
+            Sqlite3::bindParameter(db, statement, ":input", input);
+            Sqlite3::bindParameter(db, statement, ":data", data);
+        }
+
+        std::string_view UpdateTile::text() noexcept
+        {
+            return updateTileQuery;
+        }
+
+        void UpdateTile::bind(sqlite3& db, sqlite3_stmt& statement, TileId tileId, TileVersion version,
+            const std::vector<std::byte>& data)
+        {
+            Sqlite3::bindParameter(db, statement, ":tile_id", tileId);
+            Sqlite3::bindParameter(db, statement, ":version", version);
+            Sqlite3::bindParameter(db, statement, ":data", data);
+        }
+
+        std::string_view GetMaxShapeId::text() noexcept
+        {
+            return getMaxShapeIdQuery;
+        }
+
+        std::string_view FindShapeId::text() noexcept
+        {
+            return findShapeIdQuery;
+        }
+
+        void FindShapeId::bind(sqlite3& db, sqlite3_stmt& statement, const std::string& name,
+            ShapeType type, const Sqlite3::ConstBlob& hash)
+        {
+            Sqlite3::bindParameter(db, statement, ":name", name);
+            Sqlite3::bindParameter(db, statement, ":type", static_cast<int>(type));
+            Sqlite3::bindParameter(db, statement, ":hash", hash);
+        }
+
+        std::string_view InsertShape::text() noexcept
+        {
+            return insertShapeQuery;
+        }
+
+        void InsertShape::bind(sqlite3& db, sqlite3_stmt& statement, ShapeId shapeId, const std::string& name,
+            ShapeType type, const Sqlite3::ConstBlob& hash)
+        {
+            Sqlite3::bindParameter(db, statement, ":shape_id", shapeId);
+            Sqlite3::bindParameter(db, statement, ":name", name);
+            Sqlite3::bindParameter(db, statement, ":type", static_cast<int>(type));
+            Sqlite3::bindParameter(db, statement, ":hash", hash);
+        }
+    }
+}

components/detournavigator/navmeshdb.hpp

@@ -0,0 +1,153 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHDB_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHDB_H
+
+#include "tileposition.hpp"
+
+#include <components/sqlite3/db.hpp>
+#include <components/sqlite3/statement.hpp>
+#include <components/sqlite3/transaction.hpp>
+#include <components/sqlite3/types.hpp>
+
+#include <boost/serialization/strong_typedef.hpp>
+
+#include <cstddef>
+#include <cstdint>
+#include <cstring>
+#include <optional>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <tuple>
+#include <utility>
+#include <vector>
+#include <memory>
+
+struct sqlite3;
+struct sqlite3_stmt;
+
+namespace DetourNavigator
+{
+    BOOST_STRONG_TYPEDEF(std::int64_t, TileId)
+    BOOST_STRONG_TYPEDEF(std::int64_t, TileRevision)
+    BOOST_STRONG_TYPEDEF(std::int64_t, TileVersion)
+    BOOST_STRONG_TYPEDEF(std::int64_t, ShapeId)
+
+    struct Tile
+    {
+        TileId mTileId;
+        TileVersion mVersion;
+    };
+
+    struct TileData
+    {
+        TileId mTileId;
+        TileVersion mVersion;
+        std::vector<std::byte> mData;
+    };
+
+    enum class ShapeType
+    {
+        Collision = 1,
+        Avoid = 2,
+    };
+
+    std::ostream& operator<<(std::ostream& stream, ShapeType value);
+
+    namespace DbQueries
+    {
+        struct GetMaxTileId
+        {
+            static std::string_view text() noexcept;
+            static void bind(sqlite3&, sqlite3_stmt&) {}
+        };
+
+        struct FindTile
+        {
+            static std::string_view text() noexcept;
+            static void bind(sqlite3& db, sqlite3_stmt& statement, const std::string& worldspace,
+                const TilePosition& tilePosition, const std::vector<std::byte>& input);
+        };
+
+        struct GetTileData
+        {
+            static std::string_view text() noexcept;
+            static void bind(sqlite3& db, sqlite3_stmt& statement, const std::string& worldspace,
+                const TilePosition& tilePosition, const std::vector<std::byte>& input);
+        };
+
+        struct InsertTile
+        {
+            static std::string_view text() noexcept;
+            static void bind(sqlite3& db, sqlite3_stmt& statement, TileId tileId, const std::string& worldspace,
+                const TilePosition& tilePosition, TileVersion version, const std::vector<std::byte>& input,
+                const std::vector<std::byte>& data);
+        };
+
+        struct UpdateTile
+        {
+            static std::string_view text() noexcept;
+            static void bind(sqlite3& db, sqlite3_stmt& statement, TileId tileId, TileVersion version,
+                const std::vector<std::byte>& data);
+        };
+
+        struct GetMaxShapeId
+        {
+            static std::string_view text() noexcept;
+            static void bind(sqlite3&, sqlite3_stmt&) {}
+        };
+
+        struct FindShapeId
+        {
+            static std::string_view text() noexcept;
+            static void bind(sqlite3& db, sqlite3_stmt& statement, const std::string& name,
+                ShapeType type, const Sqlite3::ConstBlob& hash);
+        };
+
+        struct InsertShape
+        {
+            static std::string_view text() noexcept;
+            static void bind(sqlite3& db, sqlite3_stmt& statement, ShapeId shapeId, const std::string& name,
+                ShapeType type, const Sqlite3::ConstBlob& hash);
+        };
+    }
+
+    class NavMeshDb
+    {
+    public:
+        explicit NavMeshDb(std::string_view path);
+
+        Sqlite3::Transaction startTransaction();
+
+        TileId getMaxTileId();
+
+        std::optional<Tile> findTile(const std::string& worldspace,
+            const TilePosition& tilePosition, const std::vector<std::byte>& input);
+
+        std::optional<TileData> getTileData(const std::string& worldspace,
+            const TilePosition& tilePosition, const std::vector<std::byte>& input);
+
+        int insertTile(TileId tileId, const std::string& worldspace, const TilePosition& tilePosition,
+            TileVersion version, const std::vector<std::byte>& input, const std::vector<std::byte>& data);
+
+        int updateTile(TileId tileId, TileVersion version, const std::vector<std::byte>& data);
+
+        ShapeId getMaxShapeId();
+
+        std::optional<ShapeId> findShapeId(const std::string& name, ShapeType type, const Sqlite3::ConstBlob& hash);
+
+        int insertShape(ShapeId shapeId, const std::string& name, ShapeType type, const Sqlite3::ConstBlob& hash);
+
+    private:
+        Sqlite3::Db mDb;
+        Sqlite3::Statement<DbQueries::GetMaxTileId> mGetMaxTileId;
+        Sqlite3::Statement<DbQueries::FindTile> mFindTile;
+        Sqlite3::Statement<DbQueries::GetTileData> mGetTileData;
+        Sqlite3::Statement<DbQueries::InsertTile> mInsertTile;
+        Sqlite3::Statement<DbQueries::UpdateTile> mUpdateTile;
+        Sqlite3::Statement<DbQueries::GetMaxShapeId> mGetMaxShapeId;
+        Sqlite3::Statement<DbQueries::FindShapeId> mFindShapeId;
+        Sqlite3::Statement<DbQueries::InsertShape> mInsertShape;
+    };
+}
+
+#endif

components/detournavigator/navmeshdbutils.cpp

@@ -0,0 +1,40 @@
+#include "navmeshdbutils.hpp"
+#include "navmeshdb.hpp"
+#include "recastmesh.hpp"
+
+#include <components/debug/debuglog.hpp>
+
+#include <cassert>
+
+namespace DetourNavigator
+{
+    namespace
+    {
+        ShapeId getShapeId(NavMeshDb& db, const std::string& name, ShapeType type, const std::string& hash, ShapeId& nextShapeId)
+        {
+            const Sqlite3::ConstBlob hashData {hash.data(), static_cast<int>(hash.size())};
+            if (const auto existingShapeId = db.findShapeId(name, type, hashData))
+                return *existingShapeId;
+            const ShapeId newShapeId = nextShapeId;
+            db.insertShape(newShapeId, name, type, hashData);
+            Log(Debug::Verbose) << "Added " << name << " " << type << " shape to navmeshdb with id " << newShapeId;
+            ++nextShapeId.t;
+            return newShapeId;
+        }
+    }
+
+    ShapeId resolveMeshSource(NavMeshDb& db, const MeshSource& source, ShapeId& nextShapeId)
+    {
+        switch (source.mAreaType)
+        {
+            case AreaType_null:
+                return getShapeId(db, source.mShape->mFileName, ShapeType::Avoid, source.mShape->mFileHash, nextShapeId);
+            case AreaType_ground:
+                return getShapeId(db, source.mShape->mFileName, ShapeType::Collision, source.mShape->mFileHash, nextShapeId);
+            default:
+                Log(Debug::Warning) << "Trying to resolve recast mesh source with unsupported area type: " << source.mAreaType;
+                assert(false);
+                return ShapeId(0);
+        }
+    }
+}

components/detournavigator/navmeshdbutils.hpp

@@ -0,0 +1,13 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHDBUTILS_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHDBUTILS_H
+
+#include "navmeshdb.hpp"
+
+namespace DetourNavigator
+{
+    struct MeshSource;
+
+    ShapeId resolveMeshSource(NavMeshDb& db, const MeshSource& source, ShapeId& nextShapeId);
+}
+
+#endif

components/detournavigator/navmeshmanager.cpp

@@ -41,13 +41,23 @@ namespace
 
 namespace DetourNavigator
 {
-    NavMeshManager::NavMeshManager(const Settings& settings)
+    NavMeshManager::NavMeshManager(const Settings& settings, std::unique_ptr<NavMeshDb>&& db)
         : mSettings(settings)
-        , mRecastMeshManager(settings)
-        , mOffMeshConnectionsManager(settings)
-        , mAsyncNavMeshUpdater(settings, mRecastMeshManager, mOffMeshConnectionsManager)
+        , mRecastMeshManager(settings.mRecast)
+        , mOffMeshConnectionsManager(settings.mRecast)
+        , mAsyncNavMeshUpdater(settings, mRecastMeshManager, mOffMeshConnectionsManager, std::move(db))
     {}
 
+    void NavMeshManager::setWorldspace(std::string_view worldspace)
+    {
+        if (worldspace == mWorldspace)
+            return;
+        mRecastMeshManager.setWorldspace(worldspace);
+        for (auto& [agent, cache] : mCache)
+            cache = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), ++mGenerationCounter);
+        mWorldspace = worldspace;
+    }
+
     bool NavMeshManager::addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                                    const AreaType areaType)
     {
@@ -140,8 +150,8 @@ namespace DetourNavigator
     {
         mOffMeshConnectionsManager.add(id, OffMeshConnection {start, end, areaType});
 
-        const auto startTilePosition = getTilePosition(mSettings, start);
-        const auto endTilePosition = getTilePosition(mSettings, end);
+        const auto startTilePosition = getTilePosition(mSettings.mRecast, start);
+        const auto endTilePosition = getTilePosition(mSettings.mRecast, end);
 
         addChangedTile(startTilePosition, ChangeType::add);
 
@@ -158,7 +168,7 @@ namespace DetourNavigator
 
     void NavMeshManager::update(const osg::Vec3f& playerPosition, const osg::Vec3f& agentHalfExtents)
     {
-        const auto playerTile = getTilePosition(mSettings, toNavMeshCoordinates(mSettings, playerPosition));
+        const auto playerTile = getTilePosition(mSettings.mRecast, toNavMeshCoordinates(mSettings.mRecast, playerPosition));
         auto& lastRevision = mLastRecastMeshManagerRevision[agentHalfExtents];
         auto lastPlayerTile = mPlayerTile.find(agentHalfExtents);
         if (lastRevision == mRecastMeshManager.getRevision() && lastPlayerTile != mPlayerTile.end()
@@ -201,14 +211,14 @@ namespace DetourNavigator
                 const auto shouldAdd = shouldAddTile(tile, playerTile, maxTiles);
                 const auto presentInNavMesh = bool(navMesh.getTileAt(tile.x(), tile.y(), 0));
                 if (shouldAdd && !presentInNavMesh)
-                    tilesToPost.insert(std::make_pair(tile, ChangeType::add));
+                    tilesToPost.insert(std::make_pair(tile, locked->isEmptyTile(tile) ? ChangeType::update : ChangeType::add));
                 else if (!shouldAdd && presentInNavMesh)
                     tilesToPost.insert(std::make_pair(tile, ChangeType::mixed));
                 else
                     recastMeshManager.reportNavMeshChange(recastMeshManager.getVersion(), Version {0, 0});
             });
         }
-        mAsyncNavMeshUpdater.post(agentHalfExtents, cached, playerTile, tilesToPost);
+        mAsyncNavMeshUpdater.post(agentHalfExtents, cached, playerTile, mRecastMeshManager.getWorldspace(), tilesToPost);
         if (changedTiles != mChangedTiles.end())
             changedTiles->second.clear();
         Log(Debug::Debug) << "Cache update posted for agent=" << agentHalfExtents <<
@@ -233,7 +243,7 @@ namespace DetourNavigator
 
     void NavMeshManager::reportStats(unsigned int frameNumber, osg::Stats& stats) const
     {
-        mAsyncNavMeshUpdater.reportStats(frameNumber, stats);
+        DetourNavigator::reportStats(mAsyncNavMeshUpdater.getStats(), frameNumber, stats);
     }
 
     RecastMeshTiles NavMeshManager::getRecastMeshTiles() const
@@ -241,9 +251,10 @@ namespace DetourNavigator
         std::vector<TilePosition> tiles;
         mRecastMeshManager.forEachTile(
             [&tiles] (const TilePosition& tile, const CachedRecastMeshManager&) { tiles.push_back(tile); });
+        const std::string worldspace = mRecastMeshManager.getWorldspace();
         RecastMeshTiles result;
         for (const TilePosition& tile : tiles)
-            if (auto mesh = mRecastMeshManager.getCachedMesh(tile))
+            if (auto mesh = mRecastMeshManager.getCachedMesh(worldspace, tile))
                 result.emplace(tile, std::move(mesh));
         return result;
     }
@@ -251,7 +262,7 @@ namespace DetourNavigator
     void NavMeshManager::addChangedTiles(const btCollisionShape& shape, const btTransform& transform,
             const ChangeType changeType)
     {
-        getTilesPositions(shape, transform, mSettings,
+        getTilesPositions(shape, transform, mSettings.mRecast,
             [&] (const TilePosition& v) { addChangedTile(v, changeType); });
     }
 
@@ -261,7 +272,7 @@ namespace DetourNavigator
         if (cellSize == std::numeric_limits<int>::max())
             return;
 
-        getTilesPositions(cellSize, shift, mSettings,
+        getTilesPositions(cellSize, shift, mSettings.mRecast,
             [&] (const TilePosition& v) { addChangedTile(v, changeType); });
     }
 

components/detournavigator/navmeshmanager.hpp

@@ -22,7 +22,9 @@ namespace DetourNavigator
     class NavMeshManager
     {
     public:
-        NavMeshManager(const Settings& settings);
+        explicit NavMeshManager(const Settings& settings, std::unique_ptr<NavMeshDb>&& db);
+
+        void setWorldspace(std::string_view worldspace);
 
         bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                        const AreaType areaType);
@@ -62,6 +64,7 @@ namespace DetourNavigator
 
     private:
         const Settings& mSettings;
+        std::string mWorldspace;
         TileCachedRecastMeshManager mRecastMeshManager;
         OffMeshConnectionsManager mOffMeshConnectionsManager;
         AsyncNavMeshUpdater mAsyncNavMeshUpdater;

components/detournavigator/navmeshtilescache.cpp

@@ -79,12 +79,11 @@ namespace DetourNavigator
         return result;
     }
 
-    void NavMeshTilesCache::reportStats(unsigned int frameNumber, osg::Stats& out) const
+    void reportStats(const NavMeshTilesCache::Stats& stats, unsigned int frameNumber, osg::Stats& out)
     {
-        const Stats stats = getStats();
-        out.setAttribute(frameNumber, "NavMesh CacheSize", stats.mNavMeshCacheSize);
-        out.setAttribute(frameNumber, "NavMesh UsedTiles", stats.mUsedNavMeshTiles);
-        out.setAttribute(frameNumber, "NavMesh CachedTiles", stats.mCachedNavMeshTiles);
+        out.setAttribute(frameNumber, "NavMesh CacheSize", static_cast<double>(stats.mNavMeshCacheSize));
+        out.setAttribute(frameNumber, "NavMesh UsedTiles", static_cast<double>(stats.mUsedNavMeshTiles));
+        out.setAttribute(frameNumber, "NavMesh CachedTiles", static_cast<double>(stats.mCachedNavMeshTiles));
         if (stats.mGetCount > 0)
             out.setAttribute(frameNumber, "NavMesh CacheHitRate", static_cast<double>(stats.mHitCount) / stats.mGetCount * 100.0);
     }

components/detournavigator/navmeshtilescache.hpp

@@ -144,8 +144,6 @@ namespace DetourNavigator
 
         Stats getStats() const;
 
-        void reportStats(unsigned int frameNumber, osg::Stats& stats) const;
-
     private:
         mutable std::mutex mMutex;
         std::size_t mMaxNavMeshDataSize;
@@ -163,6 +161,8 @@ namespace DetourNavigator
 
         void releaseItem(ItemIterator iterator);
     };
+
+    void reportStats(const NavMeshTilesCache::Stats& stats, unsigned int frameNumber, osg::Stats& out);
 }
 
 #endif

components/detournavigator/objectid.hpp

@@ -15,6 +15,11 @@ namespace DetourNavigator
         {
         }
 
+        explicit ObjectId(std::size_t value) noexcept
+            : mValue(value)
+        {
+        }
+
         std::size_t value() const noexcept
         {
             return mValue;

components/detournavigator/objecttransform.hpp

@@ -0,0 +1,27 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_OBJECTTRANSFORM_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_OBJECTTRANSFORM_H
+
+#include <components/esm/defs.hpp>
+
+#include <tuple>
+
+namespace DetourNavigator
+{
+    struct ObjectTransform
+    {
+        ESM::Position mPosition;
+        float mScale;
+
+        friend inline auto tie(const ObjectTransform& v)
+        {
+            return std::tie(v.mPosition, v.mScale);
+        }
+
+        friend inline bool operator<(const ObjectTransform& l, const ObjectTransform& r)
+        {
+            return tie(l) < tie(r);
+        }
+    };
+}
+
+#endif

components/detournavigator/offmeshconnectionsmanager.cpp

@@ -11,7 +11,7 @@
 
 namespace DetourNavigator
 {
-    OffMeshConnectionsManager::OffMeshConnectionsManager(const Settings& settings)
+    OffMeshConnectionsManager::OffMeshConnectionsManager(const RecastSettings& settings)
         : mSettings(settings)
     {}
 
@@ -65,11 +65,11 @@ namespace DetourNavigator
         return removed;
     }
 
-    std::vector<OffMeshConnection> OffMeshConnectionsManager::get(const TilePosition& tilePosition)
+    std::vector<OffMeshConnection> OffMeshConnectionsManager::get(const TilePosition& tilePosition) const
     {
         std::vector<OffMeshConnection> result;
 
-        const auto values = mValues.lock();
+        const auto values = mValues.lockConst();
 
         const auto itByTilePosition = values->mByTilePosition.find(tilePosition);
 

components/detournavigator/offmeshconnectionsmanager.hpp

@@ -18,13 +18,13 @@ namespace DetourNavigator
     class OffMeshConnectionsManager
     {
     public:
-        OffMeshConnectionsManager(const Settings& settings);
+        explicit OffMeshConnectionsManager(const RecastSettings& settings);
 
         void add(const ObjectId id, const OffMeshConnection& value);
 
         std::set<TilePosition> remove(const ObjectId id);
 
-        std::vector<OffMeshConnection> get(const TilePosition& tilePosition);
+        std::vector<OffMeshConnection> get(const TilePosition& tilePosition) const;
 
     private:
         struct Values
@@ -33,7 +33,7 @@ namespace DetourNavigator
             std::map<TilePosition, std::unordered_set<ObjectId>> mByTilePosition;
         };
 
-        const Settings& mSettings;
+        const RecastSettings& mSettings;
         Misc::ScopeGuarded<Values> mValues;
     };
 }

components/detournavigator/preparednavmeshdata.cpp

@@ -1,8 +1,10 @@
 #include "preparednavmeshdata.hpp"
 #include "preparednavmeshdatatuple.hpp"
+#include "recast.hpp"
 
 #include <Recast.h>
-#include <RecastAlloc.h>
+
+#include <cstring>
 
 namespace
 {
@@ -15,13 +17,6 @@ namespace
         value.nverts = 0;
         value.ntris = 0;
     }
-
-    void freePolyMeshDetail(rcPolyMeshDetail& value) noexcept
-    {
-        rcFree(value.meshes);
-        rcFree(value.verts);
-        rcFree(value.tris);
-    }
 }
 
 namespace DetourNavigator
@@ -31,6 +26,15 @@ namespace DetourNavigator
         initPolyMeshDetail(mPolyMeshDetail);
     }
 
+    PreparedNavMeshData::PreparedNavMeshData(const PreparedNavMeshData& other)
+        : mUserId(other.mUserId)
+        , mCellSize(other.mCellSize)
+        , mCellHeight(other.mCellHeight)
+    {
+        copyPolyMesh(other.mPolyMesh, mPolyMesh);
+        copyPolyMeshDetail(other.mPolyMeshDetail, mPolyMeshDetail);
+    }
+
     PreparedNavMeshData::~PreparedNavMeshData() noexcept
     {
         freePolyMeshDetail(mPolyMeshDetail);

components/detournavigator/preparednavmeshdata.hpp

@@ -18,7 +18,7 @@ namespace DetourNavigator
         rcPolyMeshDetail mPolyMeshDetail;
 
         PreparedNavMeshData() noexcept;
-        PreparedNavMeshData(const PreparedNavMeshData&) = delete;
+        PreparedNavMeshData(const PreparedNavMeshData& other);
 
         ~PreparedNavMeshData() noexcept;
 

components/detournavigator/raycast.cpp

@@ -10,7 +10,7 @@
 namespace DetourNavigator
 {
     std::optional<osg::Vec3f> raycast(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents,
-        const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const Settings& settings)
+        const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const DetourSettings& settings)
     {
         dtNavMeshQuery navMeshQuery;
         if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes))

components/detournavigator/raycast.hpp

@@ -10,10 +10,10 @@ class dtNavMesh;
 
 namespace DetourNavigator
 {
-    struct Settings;
+    struct DetourSettings;
 
     std::optional<osg::Vec3f> raycast(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents,
-        const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const Settings& settings);
+        const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const DetourSettings& settings);
 }
 
 #endif

components/detournavigator/recast.cpp

@@ -0,0 +1,80 @@
+#include "recast.hpp"
+
+#include <Recast.h>
+#include <RecastAlloc.h>
+
+#include <cstring>
+#include <new>
+
+namespace DetourNavigator
+{
+    void* permRecastAlloc(std::size_t size)
+    {
+        void* const result = rcAlloc(size, RC_ALLOC_PERM);
+        if (result == nullptr)
+            throw std::bad_alloc();
+        return result;
+    }
+
+    void permRecastAlloc(rcPolyMesh& value)
+    {
+        permRecastAlloc(value.verts, getVertsLength(value));
+        permRecastAlloc(value.polys, getPolysLength(value));
+        permRecastAlloc(value.regs, getRegsLength(value));
+        permRecastAlloc(value.flags, getFlagsLength(value));
+        permRecastAlloc(value.areas, getAreasLength(value));
+    }
+
+    void permRecastAlloc(rcPolyMeshDetail& value)
+    {
+        try
+        {
+            permRecastAlloc(value.meshes, getMeshesLength(value));
+            permRecastAlloc(value.verts, getVertsLength(value));
+            permRecastAlloc(value.tris, getTrisLength(value));
+        }
+        catch (...)
+        {
+            freePolyMeshDetail(value);
+            throw;
+        }
+    }
+
+    void freePolyMeshDetail(rcPolyMeshDetail& value) noexcept
+    {
+        rcFree(value.meshes);
+        rcFree(value.verts);
+        rcFree(value.tris);
+    }
+
+    void copyPolyMesh(const rcPolyMesh& src, rcPolyMesh& dst)
+    {
+        dst.nverts = src.nverts;
+        dst.npolys = src.npolys;
+        dst.maxpolys = src.maxpolys;
+        dst.nvp = src.nvp;
+        rcVcopy(dst.bmin, src.bmin);
+        rcVcopy(dst.bmax, src.bmax);
+        dst.cs = src.cs;
+        dst.ch = src.ch;
+        dst.borderSize = src.borderSize;
+        dst.maxEdgeError = src.maxEdgeError;
+        permRecastAlloc(dst);
+        std::memcpy(dst.verts, src.verts, getVertsLength(src) * sizeof(*dst.verts));
+        std::memcpy(dst.polys, src.polys, getPolysLength(src) * sizeof(*dst.polys));
+        std::memcpy(dst.regs, src.regs, getRegsLength(src) * sizeof(*dst.regs));
+        std::memcpy(dst.flags, src.flags, getFlagsLength(src) * sizeof(*dst.flags));
+        std::memcpy(dst.areas, src.areas, getAreasLength(src) * sizeof(*dst.areas));
+    }
+
+    void copyPolyMeshDetail(const rcPolyMeshDetail& src, rcPolyMeshDetail& dst)
+    {
+        dst.nmeshes = src.nmeshes;
+        dst.nverts = src.nverts;
+        dst.ntris = src.ntris;
+        permRecastAlloc(dst);
+        std::memcpy(dst.meshes, src.meshes, getMeshesLength(src) * sizeof(*dst.meshes));
+        std::memcpy(dst.verts, src.verts, getVertsLength(src) * sizeof(*dst.verts));
+        std::memcpy(dst.tris, src.tris, getTrisLength(src) * sizeof(*dst.tris));
+    }
+}

components/detournavigator/recast.hpp

@@ -2,8 +2,10 @@
 #define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECAST_H
 
 #include <Recast.h>
+#include <RecastAlloc.h>
 
 #include <cstddef>
+#include <type_traits>
 
 namespace DetourNavigator
 {
@@ -46,6 +48,25 @@ namespace DetourNavigator
     {
         return 4 * static_cast<std::size_t>(value.ntris);
     }
+
+    void* permRecastAlloc(std::size_t size);
+
+    template <class T>
+    inline void permRecastAlloc(T*& values, std::size_t size)
+    {
+        static_assert(std::is_arithmetic_v<T>);
+        values = new (permRecastAlloc(size * sizeof(T))) T[size];
+    }
+
+    void permRecastAlloc(rcPolyMesh& value);
+
+    void permRecastAlloc(rcPolyMeshDetail& value);
+
+    void freePolyMeshDetail(rcPolyMeshDetail& value) noexcept;
+
+    void copyPolyMesh(const rcPolyMesh& src, rcPolyMesh& dst);
+
+    void copyPolyMeshDetail(const rcPolyMeshDetail& src, rcPolyMeshDetail& dst);
 }
 
 #endif

components/detournavigator/recastmesh.cpp

@@ -19,13 +19,15 @@ namespace DetourNavigator
     }
 
     RecastMesh::RecastMesh(std::size_t generation, std::size_t revision, Mesh mesh, std::vector<CellWater> water,
-        std::vector<Heightfield> heightfields, std::vector<FlatHeightfield> flatHeightfields)
+        std::vector<Heightfield> heightfields, std::vector<FlatHeightfield> flatHeightfields,
+        std::vector<MeshSource> meshSources)
         : mGeneration(generation)
         , mRevision(revision)
         , mMesh(std::move(mesh))
         , mWater(std::move(water))
         , mHeightfields(std::move(heightfields))
         , mFlatHeightfields(std::move(flatHeightfields))
+        , mMeshSources(std::move(meshSources))
     {
         mWater.shrink_to_fit();
         mHeightfields.shrink_to_fit();

components/detournavigator/recastmesh.hpp

@@ -4,8 +4,10 @@
 #include "areatype.hpp"
 #include "bounds.hpp"
 #include "tilebounds.hpp"
+#include "objecttransform.hpp"
 
 #include <components/bullethelpers/operators.hpp>
+#include <components/resource/bulletshape.hpp>
 
 #include <osg/Vec3f>
 #include <osg/Vec2i>
@@ -119,11 +121,19 @@ namespace DetourNavigator
         return tie(lhs) < tie(rhs);
     }
 
+    struct MeshSource
+    {
+        osg::ref_ptr<const Resource::BulletShape> mShape;
+        ObjectTransform mObjectTransform;
+        AreaType mAreaType;
+    };
+
     class RecastMesh
     {
     public:
         RecastMesh(std::size_t generation, std::size_t revision, Mesh mesh, std::vector<CellWater> water,
-            std::vector<Heightfield> heightfields, std::vector<FlatHeightfield> flatHeightfields);
+            std::vector<Heightfield> heightfields, std::vector<FlatHeightfield> flatHeightfields,
+            std::vector<MeshSource> sources);
 
         std::size_t getGeneration() const
         {
@@ -152,6 +162,8 @@ namespace DetourNavigator
             return mFlatHeightfields;
         }
 
+        const std::vector<MeshSource>& getMeshSources() const noexcept { return mMeshSources; }
+
     private:
         std::size_t mGeneration;
         std::size_t mRevision;
@@ -159,6 +171,7 @@ namespace DetourNavigator
         std::vector<CellWater> mWater;
         std::vector<Heightfield> mHeightfields;
         std::vector<FlatHeightfield> mFlatHeightfields;
+        std::vector<MeshSource> mMeshSources;
 
         friend inline std::size_t getSize(const RecastMesh& value) noexcept
         {

components/detournavigator/recastmeshbuilder.cpp

@@ -133,6 +133,13 @@ namespace DetourNavigator
     {
     }
 
+    void RecastMeshBuilder::addObject(const btCollisionShape& shape, const btTransform& transform,
+        const AreaType areaType, osg::ref_ptr<const Resource::BulletShape> source, const ObjectTransform& objectTransform)
+    {
+        addObject(shape, transform, areaType);
+        mSources.push_back(MeshSource {std::move(source), objectTransform, areaType});
+    }
+
     void RecastMeshBuilder::addObject(const btCollisionShape& shape, const btTransform& transform,
                                       const AreaType areaType)
     {
@@ -261,7 +268,8 @@ namespace DetourNavigator
         std::sort(mWater.begin(), mWater.end());
         Mesh mesh = makeMesh(std::move(mTriangles));
         return std::make_shared<RecastMesh>(generation, revision, std::move(mesh), std::move(mWater),
-                                            std::move(mHeightfields), std::move(mFlatHeightfields));
+                                            std::move(mHeightfields), std::move(mFlatHeightfields),
+                                            std::move(mSources));
     }
 
     void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform,

components/detournavigator/recastmeshbuilder.hpp

@@ -4,6 +4,8 @@
 #include "recastmesh.hpp"
 #include "tilebounds.hpp"
 
+#include <components/resource/bulletshape.hpp>
+
 #include <osg/Vec3f>
 
 #include <LinearMath/btTransform.h>
@@ -38,7 +40,8 @@ namespace DetourNavigator
     public:
         explicit RecastMeshBuilder(const TileBounds& bounds) noexcept;
 
-        void addObject(const btCollisionShape& shape, const btTransform& transform, const AreaType areaType);
+        void addObject(const btCollisionShape& shape, const btTransform& transform, const AreaType areaType,
+            osg::ref_ptr<const Resource::BulletShape> source, const ObjectTransform& objectTransform);
 
         void addObject(const btCompoundShape& shape, const btTransform& transform, const AreaType areaType);
 
@@ -63,6 +66,9 @@ namespace DetourNavigator
         std::vector<CellWater> mWater;
         std::vector<Heightfield> mHeightfields;
         std::vector<FlatHeightfield> mFlatHeightfields;
+        std::vector<MeshSource> mSources;
+
+        inline void addObject(const btCollisionShape& shape, const btTransform& transform, const AreaType areaType);
 
         void addObject(const btConcaveShape& shape, const btTransform& transform, btTriangleCallback&& callback);
 

components/detournavigator/recastmeshmanager.cpp

@@ -122,7 +122,8 @@ namespace DetourNavigator
     {
         RecastMeshBuilder builder(mTileBounds);
         using Object = std::tuple<
-            osg::ref_ptr<const osg::Referenced>,
+            osg::ref_ptr<const Resource::BulletShapeInstance>,
+            ObjectTransform,
             std::reference_wrapper<const btCollisionShape>,
             btTransform,
             AreaType
@@ -139,12 +140,13 @@ namespace DetourNavigator
             for (const auto& [k, object] : mObjects)
             {
                 const RecastMeshObject& impl = object.getImpl();
-                objects.emplace_back(impl.getHolder(), impl.getShape(), impl.getTransform(), impl.getAreaType());
+                objects.emplace_back(impl.getInstance(), impl.getObjectTransform(), impl.getShape(),
+                                     impl.getTransform(), impl.getAreaType());
             }
             revision = mRevision;
         }
-        for (const auto& [holder, shape, transform, areaType] : objects)
-            builder.addObject(shape, transform, areaType);
+        for (const auto& [instance, objectTransform, shape, transform, areaType] : objects)
+            builder.addObject(shape, transform, areaType, instance->getSource(), objectTransform);
         return std::move(builder).create(mGeneration, revision);
     }
 

components/detournavigator/recastmeshobject.cpp

@@ -75,7 +75,8 @@ namespace DetourNavigator
 
     RecastMeshObject::RecastMeshObject(const CollisionShape& shape, const btTransform& transform,
             const AreaType areaType)
-        : mHolder(shape.getHolder())
+        : mInstance(shape.getInstance())
+        , mObjectTransform(shape.getObjectTransform())
         , mImpl(shape.getShape(), transform, areaType)
     {
     }

components/detournavigator/recastmeshobject.hpp

@@ -2,6 +2,9 @@
 #define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHOBJECT_H
 
 #include "areatype.hpp"
+#include "objecttransform.hpp"
+
+#include <components/resource/bulletshape.hpp>
 
 #include <LinearMath/btTransform.h>
 
@@ -19,17 +22,21 @@ namespace DetourNavigator
     class CollisionShape
     {
     public:
-        CollisionShape(osg::ref_ptr<const osg::Referenced> holder, const btCollisionShape& shape)
-            : mHolder(std::move(holder))
+        CollisionShape(osg::ref_ptr<const Resource::BulletShapeInstance> instance, const btCollisionShape& shape,
+                       const ObjectTransform& transform)
+            : mInstance(std::move(instance))
             , mShape(shape)
+            , mObjectTransform(transform)
         {}
 
-        const osg::ref_ptr<const osg::Referenced>& getHolder() const { return mHolder; }
+        const osg::ref_ptr<const Resource::BulletShapeInstance>& getInstance() const { return mInstance; }
         const btCollisionShape& getShape() const { return mShape; }
+        const ObjectTransform& getObjectTransform() const { return mObjectTransform; }
 
     private:
-        osg::ref_ptr<const osg::Referenced> mHolder;
+        osg::ref_ptr<const Resource::BulletShapeInstance> mInstance;
         std::reference_wrapper<const btCollisionShape> mShape;
+        ObjectTransform mObjectTransform;
     };
 
     class ChildRecastMeshObject
@@ -60,7 +67,7 @@ namespace DetourNavigator
 
             bool update(const btTransform& transform, const AreaType areaType) { return mImpl.update(transform, areaType); }
 
-            const osg::ref_ptr<const osg::Referenced>& getHolder() const { return mHolder; }
+            const osg::ref_ptr<const Resource::BulletShapeInstance>& getInstance() const { return mInstance; }
 
             const btCollisionShape& getShape() const { return mImpl.getShape(); }
 
@@ -68,8 +75,11 @@ namespace DetourNavigator
 
             AreaType getAreaType() const { return mImpl.getAreaType(); }
 
+            const ObjectTransform& getObjectTransform() const { return mObjectTransform; }
+
         private:
-            osg::ref_ptr<const osg::Referenced> mHolder;
+            osg::ref_ptr<const Resource::BulletShapeInstance> mInstance;
+            ObjectTransform mObjectTransform;
             ChildRecastMeshObject mImpl;
     };
 }

components/detournavigator/recastmeshprovider.hpp

@@ -0,0 +1,33 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHPROVIDER_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHPROVIDER_H
+
+#include "tileposition.hpp"
+#include "recastmesh.hpp"
+#include "tilecachedrecastmeshmanager.hpp"
+#include "version.hpp"
+
+#include <functional>
+#include <memory>
+
+namespace DetourNavigator
+{
+    class RecastMesh;
+
+    class RecastMeshProvider
+    {
+    public:
+        RecastMeshProvider(TileCachedRecastMeshManager& impl)
+            : mImpl(impl)
+        {}
+
+        std::shared_ptr<RecastMesh> getMesh(std::string_view worldspace, const TilePosition& tilePosition) const
+        {
+            return mImpl.get().getNewMesh(worldspace, tilePosition);
+        }
+
+    private:
+        std::reference_wrapper<TileCachedRecastMeshManager> mImpl;
+    };
+}
+
+#endif

components/detournavigator/serialization.cpp

@@ -0,0 +1,272 @@
+#include "serialization.hpp"
+
+#include "dbrefgeometryobject.hpp"
+#include "preparednavmeshdata.hpp"
+#include "recast.hpp"
+#include "recastmesh.hpp"
+#include "settings.hpp"
+
+#include <components/serialization/binaryreader.hpp>
+#include <components/serialization/binarywriter.hpp>
+#include <components/serialization/format.hpp>
+#include <components/serialization/sizeaccumulator.hpp>
+
+#include <cstddef>
+#include <cstring>
+#include <type_traits>
+#include <vector>
+
+namespace DetourNavigator
+{
+namespace
+{
+    template <Serialization::Mode mode>
+    struct Format : Serialization::Format<mode, Format<mode>>
+    {
+        using Serialization::Format<mode, Format<mode>>::operator();
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const osg::Vec2i& value) const
+        {
+            visitor(*this, value.ptr(), 2);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const osg::Vec2f& value) const
+        {
+            visitor(*this, value.ptr(), 2);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const osg::Vec3f& value) const
+        {
+            visitor(*this, value.ptr(), 3);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const Water& value) const
+        {
+            visitor(*this, value.mCellSize);
+            visitor(*this, value.mLevel);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const CellWater& value) const
+        {
+            visitor(*this, value.mCellPosition);
+            visitor(*this, value.mWater);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const RecastSettings& value) const
+        {
+            visitor(*this, value.mCellHeight);
+            visitor(*this, value.mCellSize);
+            visitor(*this, value.mDetailSampleDist);
+            visitor(*this, value.mDetailSampleMaxError);
+            visitor(*this, value.mMaxClimb);
+            visitor(*this, value.mMaxSimplificationError);
+            visitor(*this, value.mMaxSlope);
+            visitor(*this, value.mRecastScaleFactor);
+            visitor(*this, value.mSwimHeightScale);
+            visitor(*this, value.mBorderSize);
+            visitor(*this, value.mMaxEdgeLen);
+            visitor(*this, value.mMaxVertsPerPoly);
+            visitor(*this, value.mRegionMergeArea);
+            visitor(*this, value.mRegionMinArea);
+            visitor(*this, value.mTileSize);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const TileBounds& value) const
+        {
+            visitor(*this, value.mMin);
+            visitor(*this, value.mMax);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const Heightfield& value) const
+        {
+            visitor(*this, value.mCellPosition);
+            visitor(*this, value.mCellSize);
+            visitor(*this, value.mLength);
+            visitor(*this, value.mMinHeight);
+            visitor(*this, value.mMaxHeight);
+            visitor(*this, value.mHeights);
+            visitor(*this, value.mOriginalSize);
+            visitor(*this, value.mMinX);
+            visitor(*this, value.mMinY);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const FlatHeightfield& value) const
+        {
+            visitor(*this, value.mCellPosition);
+            visitor(*this, value.mCellSize);
+            visitor(*this, value.mHeight);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const RecastMesh& value) const
+        {
+            visitor(*this, value.getWater());
+            visitor(*this, value.getHeightfields());
+            visitor(*this, value.getFlatHeightfields());
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const ESM::Position& value) const
+        {
+            visitor(*this, value.pos);
+            visitor(*this, value.rot);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const ObjectTransform& value) const
+        {
+            visitor(*this, value.mPosition);
+            visitor(*this, value.mScale);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const DbRefGeometryObject& value) const
+        {
+            visitor(*this, value.mShapeId);
+            visitor(*this, value.mObjectTransform);
+        }
+
+        template <class Visitor>
+        void operator()(Visitor&& visitor, const RecastSettings& settings, const RecastMesh& recastMesh,
+            const std::vector<DbRefGeometryObject>& dbRefGeometryObjects) const
+        {
+            visitor(*this, DetourNavigator::recastMeshMagic);
+            visitor(*this, DetourNavigator::recastMeshVersion);
+            visitor(*this, settings);
+            visitor(*this, recastMesh);
+            visitor(*this, dbRefGeometryObjects);
+        }
+
+        template <class Visitor, class T>
+        auto operator()(Visitor&& visitor, T& value) const
+            -> std::enable_if_t<std::is_same_v<std::decay_t<T>, rcPolyMesh>>
+        {
+            visitor(*this, value.nverts);
+            visitor(*this, value.npolys);
+            visitor(*this, value.maxpolys);
+            visitor(*this, value.nvp);
+            visitor(*this, value.bmin);
+            visitor(*this, value.bmax);
+            visitor(*this, value.cs);
+            visitor(*this, value.ch);
+            visitor(*this, value.borderSize);
+            visitor(*this, value.maxEdgeError);
+            if constexpr (mode == Serialization::Mode::Read)
+            {
+                if (value.verts == nullptr)
+                    permRecastAlloc(value.verts, getVertsLength(value));
+                if (value.polys == nullptr)
+                    permRecastAlloc(value.polys, getPolysLength(value));
+                if (value.regs == nullptr)
+                    permRecastAlloc(value.regs, getRegsLength(value));
+                if (value.flags == nullptr)
+                    permRecastAlloc(value.flags, getFlagsLength(value));
+                if (value.areas == nullptr)
+                    permRecastAlloc(value.areas, getAreasLength(value));
+            }
+            visitor(*this, value.verts, getVertsLength(value));
+            visitor(*this, value.polys, getPolysLength(value));
+            visitor(*this, value.regs, getRegsLength(value));
+            visitor(*this, value.flags, getFlagsLength(value));
+            visitor(*this, value.areas, getAreasLength(value));
+        }
+
+        template <class Visitor, class T>
+        auto operator()(Visitor&& visitor, T& value) const
+            -> std::enable_if_t<std::is_same_v<std::decay_t<T>, rcPolyMeshDetail>>
+        {
+            visitor(*this, value.nmeshes);
+            if constexpr (mode == Serialization::Mode::Read)
+                if (value.meshes == nullptr)
+                    permRecastAlloc(value.meshes, getMeshesLength(value));
+            visitor(*this, value.meshes, getMeshesLength(value));
+            visitor(*this, value.nverts);
+            if constexpr (mode == Serialization::Mode::Read)
+                if (value.verts == nullptr)
+                    permRecastAlloc(value.verts, getVertsLength(value));
+            visitor(*this, value.verts, getVertsLength(value));
+            visitor(*this, value.ntris);
+            if constexpr (mode == Serialization::Mode::Read)
+                if (value.tris == nullptr)
+                    permRecastAlloc(value.tris, getTrisLength(value));
+            visitor(*this, value.tris, getTrisLength(value));
+        }
+
+        template <class Visitor, class T>
+        auto operator()(Visitor&& visitor, T& value) const
+            -> std::enable_if_t<std::is_same_v<std::decay_t<T>, PreparedNavMeshData>>
+        {
+            if constexpr (mode == Serialization::Mode::Write)
+            {
+                visitor(*this, DetourNavigator::preparedNavMeshDataMagic);
+                visitor(*this, DetourNavigator::preparedNavMeshDataVersion);
+            }
+            else
+            {
+                static_assert(mode == Serialization::Mode::Read);
+                char magic[std::size(DetourNavigator::preparedNavMeshDataMagic)];
+                visitor(*this, magic);
+                if (std::memcmp(magic, DetourNavigator::preparedNavMeshDataMagic, sizeof(magic)) != 0)
+                    throw std::runtime_error("Bad PreparedNavMeshData magic");
+                std::uint32_t version = 0;
+                visitor(*this, version);
+                if (version != DetourNavigator::preparedNavMeshDataVersion)
+                    throw std::runtime_error("Bad PreparedNavMeshData version");
+            }
+            visitor(*this, value.mUserId);
+            visitor(*this, value.mCellSize);
+            visitor(*this, value.mCellHeight);
+            visitor(*this, value.mPolyMesh);
+            visitor(*this, value.mPolyMeshDetail);
+        }
+    };
+}
+} // namespace DetourNavigator
+
+namespace DetourNavigator
+{
+    std::vector<std::byte> serialize(const RecastSettings& settings, const RecastMesh& recastMesh,
+        const std::vector<DbRefGeometryObject>& dbRefGeometryObjects)
+    {
+        constexpr Format<Serialization::Mode::Write> format;
+        Serialization::SizeAccumulator sizeAccumulator;
+        format(sizeAccumulator, settings, recastMesh, dbRefGeometryObjects);
+        std::vector<std::byte> result(sizeAccumulator.value());
+        format(Serialization::BinaryWriter(result.data(), result.data() + result.size()),
+               settings, recastMesh, dbRefGeometryObjects);
+        return result;
+    }
+
+    std::vector<std::byte> serialize(const PreparedNavMeshData& value)
+    {
+        constexpr Format<Serialization::Mode::Write> format;
+        Serialization::SizeAccumulator sizeAccumulator;
+        format(sizeAccumulator, value);
+        std::vector<std::byte> result(sizeAccumulator.value());
+        format(Serialization::BinaryWriter(result.data(), result.data() + result.size()), value);
+        return result;
+    }
+
+    bool deserialize(const std::vector<std::byte>& data, PreparedNavMeshData& value)
+    {
+        try
+        {
+            constexpr Format<Serialization::Mode::Read> format;
+            format(Serialization::BinaryReader(data.data(), data.data() + data.size()), value);
+            return true;
+        }
+        catch (const std::exception&)
+        {
+            return false;
+        }
+    }
+}

components/detournavigator/serialization.hpp

@@ -0,0 +1,29 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SERIALIZATION_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_SERIALIZATION_H
+
+#include <cstddef>
+#include <cstdint>
+#include <vector>
+
+namespace DetourNavigator
+{
+    class RecastMesh;
+    struct DbRefGeometryObject;
+    struct PreparedNavMeshData;
+    struct RecastSettings;
+
+    constexpr char recastMeshMagic[] = {'r', 'c', 's', 't'};
+    constexpr std::uint32_t recastMeshVersion = 1;
+
+    constexpr char preparedNavMeshDataMagic[] = {'p', 'n', 'a', 'v'};
+    constexpr std::uint32_t preparedNavMeshDataVersion = 1;
+
+    std::vector<std::byte> serialize(const RecastSettings& settings, const RecastMesh& value,
+        const std::vector<DbRefGeometryObject>& dbRefGeometryObjects);
+
+    std::vector<std::byte> serialize(const PreparedNavMeshData& value);
+
+    bool deserialize(const std::vector<std::byte>& data, PreparedNavMeshData& value);
+}
+
+#endif

components/detournavigator/settings.cpp

@@ -3,43 +3,68 @@
 #include <components/settings/settings.hpp>
 #include <components/misc/constants.hpp>
 
+#include <algorithm>
+
 namespace DetourNavigator
 {
+    RecastSettings makeRecastSettingsFromSettingsManager()
+    {
+        constexpr float epsilon = std::numeric_limits<float>::epsilon();
+
+        RecastSettings result;
+
+        result.mBorderSize = std::max(0, ::Settings::Manager::getInt("border size", "Navigator"));
+        result.mCellHeight = std::max(epsilon, ::Settings::Manager::getFloat("cell height", "Navigator"));
+        result.mCellSize = std::max(epsilon, ::Settings::Manager::getFloat("cell size", "Navigator"));
+        result.mDetailSampleDist = std::max(0.0f, ::Settings::Manager::getFloat("detail sample dist", "Navigator"));
+        result.mDetailSampleMaxError = std::max(0.0f, ::Settings::Manager::getFloat("detail sample max error", "Navigator"));
+        result.mMaxClimb = Constants::sStepSizeUp;
+        result.mMaxSimplificationError = std::max(0.0f, ::Settings::Manager::getFloat("max simplification error", "Navigator"));
+        result.mMaxSlope = Constants::sMaxSlope;
+        result.mRecastScaleFactor = std::max(epsilon, ::Settings::Manager::getFloat("recast scale factor", "Navigator"));
+        result.mSwimHeightScale = 0;
+        result.mMaxEdgeLen = std::max(0, ::Settings::Manager::getInt("max edge len", "Navigator"));
+        result.mMaxVertsPerPoly = std::max(3, ::Settings::Manager::getInt("max verts per poly", "Navigator"));
+        result.mRegionMergeArea = std::max(0, ::Settings::Manager::getInt("region merge area", "Navigator"));
+        result.mRegionMinArea = std::max(0, ::Settings::Manager::getInt("region min area", "Navigator"));
+        result.mTileSize = std::max(1, ::Settings::Manager::getInt("tile size", "Navigator"));
+
+        return result;
+    }
+
+    DetourSettings makeDetourSettingsFromSettingsManager()
+    {
+        DetourSettings result;
+
+        result.mMaxNavMeshQueryNodes = std::clamp(::Settings::Manager::getInt("max nav mesh query nodes", "Navigator"), 1, 65535);
+        result.mMaxPolys = std::clamp(::Settings::Manager::getInt("max polygons per tile", "Navigator"), 1, (1 << 22) - 1);
+        result.mMaxPolygonPathSize = static_cast<std::size_t>(std::max(0, ::Settings::Manager::getInt("max polygon path size", "Navigator")));
+        result.mMaxSmoothPathSize = static_cast<std::size_t>(std::max(0, ::Settings::Manager::getInt("max smooth path size", "Navigator")));
+
+        return result;
+    }
+
     Settings makeSettingsFromSettingsManager()
     {
-        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 = Constants::sStepSizeUp;
-        navigatorSettings.mMaxSimplificationError = ::Settings::Manager::getFloat("max simplification error", "Navigator");
-        navigatorSettings.mMaxSlope = Constants::sMaxSlope;
-        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.mMaxTilesNumber = ::Settings::Manager::getInt("max tiles number", "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.mWaitUntilMinDistanceToPlayer = ::Settings::Manager::getInt("wait until min distance to player", "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.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");
-        navigatorSettings.mMinUpdateInterval = std::chrono::milliseconds(::Settings::Manager::getInt("min update interval ms", "Navigator"));
-
-        return navigatorSettings;
+        Settings result;
+
+        result.mRecast = makeRecastSettingsFromSettingsManager();
+        result.mDetour = makeDetourSettingsFromSettingsManager();
+        result.mMaxTilesNumber = std::max(0, ::Settings::Manager::getInt("max tiles number", "Navigator"));
+        result.mWaitUntilMinDistanceToPlayer = ::Settings::Manager::getInt("wait until min distance to player", "Navigator");
+        result.mAsyncNavMeshUpdaterThreads = static_cast<std::size_t>(std::max(0, ::Settings::Manager::getInt("async nav mesh updater threads", "Navigator")));
+        result.mMaxNavMeshTilesCacheSize = static_cast<std::size_t>(std::max(std::int64_t {0}, ::Settings::Manager::getInt64("max nav mesh tiles cache size", "Navigator")));
+        result.mEnableWriteRecastMeshToFile = ::Settings::Manager::getBool("enable write recast mesh to file", "Navigator");
+        result.mEnableWriteNavMeshToFile = ::Settings::Manager::getBool("enable write nav mesh to file", "Navigator");
+        result.mRecastMeshPathPrefix = ::Settings::Manager::getString("recast mesh path prefix", "Navigator");
+        result.mNavMeshPathPrefix = ::Settings::Manager::getString("nav mesh path prefix", "Navigator");
+        result.mEnableRecastMeshFileNameRevision = ::Settings::Manager::getBool("enable recast mesh file name revision", "Navigator");
+        result.mEnableNavMeshFileNameRevision = ::Settings::Manager::getBool("enable nav mesh file name revision", "Navigator");
+        result.mMinUpdateInterval = std::chrono::milliseconds(::Settings::Manager::getInt("min update interval ms", "Navigator"));
+        result.mNavMeshVersion = ::Settings::Manager::getInt("nav mesh version", "Navigator");
+        result.mEnableNavMeshDiskCache = ::Settings::Manager::getBool("enable nav mesh disk cache", "Navigator");
+        result.mWriteToNavMeshDb = ::Settings::Manager::getBool("write to navmeshdb", "Navigator");
+
+        return result;
     }
 }

components/detournavigator/settings.hpp

@@ -6,12 +6,8 @@
 
 namespace DetourNavigator
 {
-    struct Settings
+    struct RecastSettings
     {
-        bool mEnableWriteRecastMeshToFile = false;
-        bool mEnableWriteNavMeshToFile = false;
-        bool mEnableRecastMeshFileNameRevision = false;
-        bool mEnableNavMeshFileNameRevision = false;
         float mCellHeight = 0;
         float mCellSize = 0;
         float mDetailSampleDist = 0;
@@ -23,23 +19,44 @@ namespace DetourNavigator
         float mSwimHeightScale = 0;
         int mBorderSize = 0;
         int mMaxEdgeLen = 0;
-        int mMaxNavMeshQueryNodes = 0;
-        int mMaxPolys = 0;
-        int mMaxTilesNumber = 0;
         int mMaxVertsPerPoly = 0;
-        int mRegionMergeSize = 0;
-        int mRegionMinSize = 0;
+        int mRegionMergeArea = 0;
+        int mRegionMinArea = 0;
         int mTileSize = 0;
+    };
+
+    struct DetourSettings
+    {
+        int mMaxPolys = 0;
+        int mMaxNavMeshQueryNodes = 0;
+        std::size_t mMaxPolygonPathSize = 0;
+        std::size_t mMaxSmoothPathSize = 0;
+    };
+
+    struct Settings
+    {
+        bool mEnableWriteRecastMeshToFile = false;
+        bool mEnableWriteNavMeshToFile = false;
+        bool mEnableRecastMeshFileNameRevision = false;
+        bool mEnableNavMeshFileNameRevision = false;
+        bool mEnableNavMeshDiskCache = false;
+        bool mWriteToNavMeshDb = false;
+        RecastSettings mRecast;
+        DetourSettings mDetour;
         int mWaitUntilMinDistanceToPlayer = 0;
+        int mMaxTilesNumber = 0;
         std::size_t mAsyncNavMeshUpdaterThreads = 0;
         std::size_t mMaxNavMeshTilesCacheSize = 0;
-        std::size_t mMaxPolygonPathSize = 0;
-        std::size_t mMaxSmoothPathSize = 0;
         std::string mRecastMeshPathPrefix;
         std::string mNavMeshPathPrefix;
         std::chrono::milliseconds mMinUpdateInterval;
+        std::int64_t mNavMeshVersion = 0;
     };
 
+    RecastSettings makeRecastSettingsFromSettingsManager();
+
+    DetourSettings makeDetourSettingsFromSettingsManager();
+
     Settings makeSettingsFromSettingsManager();
 }
 

components/detournavigator/settingsutils.hpp

@@ -4,12 +4,8 @@
 #include "settings.hpp"
 #include "tilebounds.hpp"
 #include "tileposition.hpp"
-#include "tilebounds.hpp"
-
-#include <LinearMath/btTransform.h>
 
 #include <osg/Vec2f>
-#include <osg/Vec2i>
 #include <osg/Vec3f>
 
 #include <algorithm>
@@ -17,38 +13,31 @@
 
 namespace DetourNavigator
 {
-    inline float getHeight(const Settings& settings,const osg::Vec3f& agentHalfExtents)
-    {
-        return 2.0f * agentHalfExtents.z() * settings.mRecastScaleFactor;
-    }
-
-    inline float getMaxClimb(const Settings& settings)
-    {
-        return settings.mMaxClimb * settings.mRecastScaleFactor;
-    }
-
-    inline float getRadius(const Settings& settings, const osg::Vec3f& agentHalfExtents)
-    {
-        return std::max(agentHalfExtents.x(), agentHalfExtents.y()) * std::sqrt(2) * settings.mRecastScaleFactor;
-    }
-
-    inline float toNavMeshCoordinates(const Settings& settings, float value)
+    inline float toNavMeshCoordinates(const RecastSettings& settings, float value)
     {
         return value * settings.mRecastScaleFactor;
     }
 
-    inline osg::Vec2f toNavMeshCoordinates(const Settings& settings, osg::Vec2f position)
+    inline osg::Vec2f toNavMeshCoordinates(const RecastSettings& settings, osg::Vec2f position)
     {
         return position * settings.mRecastScaleFactor;
     }
 
-    inline osg::Vec3f toNavMeshCoordinates(const Settings& settings, osg::Vec3f position)
+    inline osg::Vec3f toNavMeshCoordinates(const RecastSettings& settings, osg::Vec3f position)
     {
         std::swap(position.y(), position.z());
         return position * settings.mRecastScaleFactor;
     }
 
-    inline osg::Vec3f fromNavMeshCoordinates(const Settings& settings, osg::Vec3f position)
+    inline TileBounds toNavMeshCoordinates(const RecastSettings& settings, const TileBounds& value)
+    {
+        return TileBounds {
+            toNavMeshCoordinates(settings, value.mMin),
+            toNavMeshCoordinates(settings, value.mMax)
+        };
+    }
+
+    inline osg::Vec3f fromNavMeshCoordinates(const RecastSettings& settings, osg::Vec3f position)
     {
         const auto factor = 1.0f / settings.mRecastScaleFactor;
         position *= factor;
@@ -56,12 +45,12 @@ namespace DetourNavigator
         return position;
     }
 
-    inline float getTileSize(const Settings& settings)
+    inline float getTileSize(const RecastSettings& settings)
     {
         return static_cast<float>(settings.mTileSize) * settings.mCellSize;
     }
 
-    inline TilePosition getTilePosition(const Settings& settings, const osg::Vec3f& position)
+    inline TilePosition getTilePosition(const RecastSettings& settings, const osg::Vec3f& position)
     {
         return TilePosition(
             static_cast<int>(std::floor(position.x() / getTileSize(settings))),
@@ -69,7 +58,7 @@ namespace DetourNavigator
         );
     }
 
-    inline TileBounds makeTileBounds(const Settings& settings, const TilePosition& tilePosition)
+    inline TileBounds makeTileBounds(const RecastSettings& settings, const TilePosition& tilePosition)
     {
         return TileBounds {
             osg::Vec2f(tilePosition.x(), tilePosition.y()) * getTileSize(settings),
@@ -77,17 +66,12 @@ namespace DetourNavigator
         };
     }
 
-    inline float getBorderSize(const Settings& settings)
+    inline float getBorderSize(const RecastSettings& settings)
     {
         return static_cast<float>(settings.mBorderSize) * settings.mCellSize;
     }
 
-    inline float getSwimLevel(const Settings& settings, const float waterLevel, const float agentHalfExtentsZ)
-    {
-        return waterLevel - settings.mSwimHeightScale * agentHalfExtentsZ - agentHalfExtentsZ;;
-    }
-
-    inline float getRealTileSize(const Settings& settings)
+    inline float getRealTileSize(const RecastSettings& settings)
     {
         return settings.mTileSize * settings.mCellSize / settings.mRecastScaleFactor;
     }
@@ -97,7 +81,7 @@ namespace DetourNavigator
         return std::floor(std::sqrt(settings.mMaxTilesNumber / osg::PI)) - 1;
     }
 
-    inline TileBounds makeRealTileBoundsWithBorder(const Settings& settings, const TilePosition& tilePosition)
+    inline TileBounds makeRealTileBoundsWithBorder(const RecastSettings& settings, const TilePosition& tilePosition)
     {
         TileBounds result = makeTileBounds(settings, tilePosition);
         const float border = getBorderSize(settings);

components/detournavigator/tilecachedrecastmeshmanager.cpp

@@ -10,19 +10,34 @@
 
 namespace DetourNavigator
 {
-    TileCachedRecastMeshManager::TileCachedRecastMeshManager(const Settings& settings)
+    TileCachedRecastMeshManager::TileCachedRecastMeshManager(const RecastSettings& settings)
         : mSettings(settings)
     {}
 
+    std::string TileCachedRecastMeshManager::getWorldspace() const
+    {
+        const std::lock_guard lock(mMutex);
+        return mWorldspace;
+    }
+
+    void TileCachedRecastMeshManager::setWorldspace(std::string_view worldspace)
+    {
+        const std::lock_guard lock(mMutex);
+        if (mWorldspace == worldspace)
+            return;
+        mTiles.clear();
+        mWorldspace = worldspace;
+    }
+
     bool TileCachedRecastMeshManager::addObject(const ObjectId id, const CollisionShape& shape,
                                                 const btTransform& transform, const AreaType areaType)
     {
         std::vector<TilePosition> tilesPositions;
         {
-            auto tiles = mTiles.lock();
+            const std::lock_guard lock(mMutex);
             getTilesPositions(shape.getShape(), transform, mSettings, [&] (const TilePosition& tilePosition)
                 {
-                    if (addTile(id, shape, transform, areaType, tilePosition, tiles.get()))
+                    if (addTile(id, shape, transform, areaType, tilePosition, mTiles))
                         tilesPositions.push_back(tilePosition);
                 });
         }
@@ -41,10 +56,10 @@ namespace DetourNavigator
             return std::nullopt;
         std::optional<RemovedRecastMeshObject> result;
         {
-            auto tiles = mTiles.lock();
+            const std::lock_guard lock(mMutex);
             for (const auto& tilePosition : object->second)
             {
-                const auto removed = removeTile(id, tilePosition, tiles.get());
+                const auto removed = removeTile(id, tilePosition, mTiles);
                 if (removed && !result)
                     result = removed;
             }
@@ -62,8 +77,8 @@ namespace DetourNavigator
 
         if (cellSize == std::numeric_limits<int>::max())
         {
-            const auto tiles = mTiles.lock();
-            for (auto& tile : *tiles)
+            const std::lock_guard lock(mMutex);
+            for (auto& tile : mTiles)
             {
                 if (tile.second->addWater(cellPosition, cellSize, level))
                 {
@@ -77,13 +92,13 @@ namespace DetourNavigator
             const btVector3 shift = Misc::Convert::toBullet(getWaterShift3d(cellPosition, cellSize, level));
             getTilesPositions(cellSize, shift, mSettings, [&] (const TilePosition& tilePosition)
                 {
-                    const auto tiles = mTiles.lock();
-                    auto tile = tiles->find(tilePosition);
-                    if (tile == tiles->end())
+                    const std::lock_guard lock(mMutex);
+                    auto tile = mTiles.find(tilePosition);
+                    if (tile == mTiles.end())
                     {
                         const TileBounds tileBounds = makeRealTileBoundsWithBorder(mSettings, tilePosition);
-                        tile = tiles->emplace(tilePosition,
-                                std::make_shared<CachedRecastMeshManager>(tileBounds, mTilesGeneration)).first;
+                        tile = mTiles.emplace_hint(tile, tilePosition,
+                                std::make_shared<CachedRecastMeshManager>(tileBounds, mTilesGeneration));
                     }
                     if (tile->second->addWater(cellPosition, cellSize, level))
                     {
@@ -107,14 +122,14 @@ namespace DetourNavigator
         std::optional<Water> result;
         for (const auto& tilePosition : object->second)
         {
-            const auto tiles = mTiles.lock();
-            const auto tile = tiles->find(tilePosition);
-            if (tile == tiles->end())
+            const std::lock_guard lock(mMutex);
+            const auto tile = mTiles.find(tilePosition);
+            if (tile == mTiles.end())
                 continue;
             const auto tileResult = tile->second->removeWater(cellPosition);
             if (tile->second->isEmpty())
             {
-                tiles->erase(tile);
+                mTiles.erase(tile);
                 ++mTilesGeneration;
             }
             if (tileResult && !result)
@@ -135,13 +150,13 @@ namespace DetourNavigator
 
         getTilesPositions(cellSize, shift, mSettings, [&] (const TilePosition& tilePosition)
             {
-                const auto tiles = mTiles.lock();
-                auto tile = tiles->find(tilePosition);
-                if (tile == tiles->end())
+                const std::lock_guard lock(mMutex);
+                auto tile = mTiles.find(tilePosition);
+                if (tile == mTiles.end())
                 {
                     const TileBounds tileBounds = makeRealTileBoundsWithBorder(mSettings, tilePosition);
-                    tile = tiles->emplace(tilePosition,
-                            std::make_shared<CachedRecastMeshManager>(tileBounds, mTilesGeneration)).first;
+                    tile = mTiles.emplace_hint(tile, tilePosition,
+                            std::make_shared<CachedRecastMeshManager>(tileBounds, mTilesGeneration));
                 }
                 if (tile->second->addHeightfield(cellPosition, cellSize, shape))
                 {
@@ -164,14 +179,14 @@ namespace DetourNavigator
         std::optional<SizedHeightfieldShape> result;
         for (const auto& tilePosition : object->second)
         {
-            const auto tiles = mTiles.lock();
-            const auto tile = tiles->find(tilePosition);
-            if (tile == tiles->end())
+            const std::lock_guard lock(mMutex);
+            const auto tile = mTiles.find(tilePosition);
+            if (tile == mTiles.end())
                 continue;
             const auto tileResult = tile->second->removeHeightfield(cellPosition);
             if (tile->second->isEmpty())
             {
-                tiles->erase(tile);
+                mTiles.erase(tile);
                 ++mTilesGeneration;
             }
             if (tileResult && !result)
@@ -182,20 +197,27 @@ namespace DetourNavigator
         return result;
     }
 
-    std::shared_ptr<RecastMesh> TileCachedRecastMeshManager::getMesh(const TilePosition& tilePosition) const
+    std::shared_ptr<RecastMesh> TileCachedRecastMeshManager::getMesh(std::string_view worldspace, const TilePosition& tilePosition) const
     {
-        if (const auto manager = getManager(tilePosition))
+        if (const auto manager = getManager(worldspace, tilePosition))
             return manager->getMesh();
         return nullptr;
     }
 
-    std::shared_ptr<RecastMesh> TileCachedRecastMeshManager::getCachedMesh(const TilePosition& tilePosition) const
+    std::shared_ptr<RecastMesh> TileCachedRecastMeshManager::getCachedMesh(std::string_view worldspace, const TilePosition& tilePosition) const
     {
-        if (const auto manager = getManager(tilePosition))
+        if (const auto manager = getManager(worldspace, tilePosition))
             return manager->getCachedMesh();
         return nullptr;
     }
 
+    std::shared_ptr<RecastMesh> TileCachedRecastMeshManager::getNewMesh(std::string_view worldspace, const TilePosition& tilePosition) const
+    {
+        if (const auto manager = getManager(worldspace, tilePosition))
+            return manager->getNewMesh();
+        return nullptr;
+    }
+
     std::size_t TileCachedRecastMeshManager::getRevision() const
     {
         return mRevision;
@@ -203,9 +225,9 @@ namespace DetourNavigator
 
     void TileCachedRecastMeshManager::reportNavMeshChange(const TilePosition& tilePosition, Version recastMeshVersion, Version navMeshVersion) const
     {
-        const auto tiles = mTiles.lockConst();
-        const auto it = tiles->find(tilePosition);
-        if (it == tiles->end())
+        const std::lock_guard lock(mMutex);
+        const auto it = mTiles.find(tilePosition);
+        if (it == mTiles.end())
             return;
         it->second->reportNavMeshChange(recastMeshVersion, navMeshVersion);
     }
@@ -218,8 +240,8 @@ namespace DetourNavigator
         if (tile == tiles.end())
         {
             const TileBounds tileBounds = makeRealTileBoundsWithBorder(mSettings, tilePosition);
-            tile = tiles.emplace(tilePosition,
-                    std::make_shared<CachedRecastMeshManager>(tileBounds, mTilesGeneration)).first;
+            tile = tiles.emplace_hint(tile, tilePosition,
+                    std::make_shared<CachedRecastMeshManager>(tileBounds, mTilesGeneration));
         }
         return tile->second->addObject(id, shape, transform, areaType);
     }
@@ -246,11 +268,14 @@ namespace DetourNavigator
         return tileResult;
     }
 
-    std::shared_ptr<CachedRecastMeshManager> TileCachedRecastMeshManager::getManager(const TilePosition& tilePosition) const
+    std::shared_ptr<CachedRecastMeshManager> TileCachedRecastMeshManager::getManager(std::string_view worldspace,
+        const TilePosition& tilePosition) const
     {
-        const auto tiles = mTiles.lockConst();
-        const auto it = tiles->find(tilePosition);
-        if (it == tiles->end())
+        const std::lock_guard lock(mMutex);
+        if (mWorldspace != worldspace)
+            return nullptr;
+        const auto it = mTiles.find(tilePosition);
+        if (it == mTiles.end())
             return nullptr;
         return it->second;
     }

components/detournavigator/tilecachedrecastmeshmanager.hpp

@@ -8,8 +8,6 @@
 #include "version.hpp"
 #include "heightfieldshape.hpp"
 
-#include <components/misc/guarded.hpp>
-
 #include <algorithm>
 #include <map>
 #include <mutex>
@@ -20,7 +18,11 @@ namespace DetourNavigator
     class TileCachedRecastMeshManager
     {
     public:
-        TileCachedRecastMeshManager(const Settings& settings);
+        explicit TileCachedRecastMeshManager(const RecastSettings& settings);
+
+        std::string getWorldspace() const;
+
+        void setWorldspace(std::string_view worldspace);
 
         bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                        const AreaType areaType);
@@ -36,19 +38,19 @@ namespace DetourNavigator
             bool changed = false;
             std::vector<TilePosition> newTiles;
             {
-                auto tiles = mTiles.lock();
+                const std::lock_guard lock(mMutex);
                 const auto onTilePosition = [&] (const TilePosition& tilePosition)
                 {
                     if (std::binary_search(currentTiles.begin(), currentTiles.end(), tilePosition))
                     {
                         newTiles.push_back(tilePosition);
-                        if (updateTile(id, transform, areaType, tilePosition, tiles.get()))
+                        if (updateTile(id, transform, areaType, tilePosition, mTiles))
                         {
                             onChangedTile(tilePosition);
                             changed = true;
                         }
                     }
-                    else if (addTile(id, shape, transform, areaType, tilePosition, tiles.get()))
+                    else if (addTile(id, shape, transform, areaType, tilePosition, mTiles))
                     {
                         newTiles.push_back(tilePosition);
                         onChangedTile(tilePosition);
@@ -59,7 +61,7 @@ namespace DetourNavigator
                 std::sort(newTiles.begin(), newTiles.end());
                 for (const auto& tile : currentTiles)
                 {
-                    if (!std::binary_search(newTiles.begin(), newTiles.end(), tile) && removeTile(id, tile, tiles.get()))
+                    if (!std::binary_search(newTiles.begin(), newTiles.end(), tile) && removeTile(id, tile, mTiles))
                     {
                         onChangedTile(tile);
                         changed = true;
@@ -84,14 +86,17 @@ namespace DetourNavigator
 
         std::optional<SizedHeightfieldShape> removeHeightfield(const osg::Vec2i& cellPosition);
 
-        std::shared_ptr<RecastMesh> getMesh(const TilePosition& tilePosition) const;
+        std::shared_ptr<RecastMesh> getMesh(std::string_view worldspace, const TilePosition& tilePosition) const;
+
+        std::shared_ptr<RecastMesh> getCachedMesh(std::string_view worldspace, const TilePosition& tilePosition) const;
 
-        std::shared_ptr<RecastMesh> getCachedMesh(const TilePosition& tilePosition) const;
+        std::shared_ptr<RecastMesh> getNewMesh(std::string_view worldspace, const TilePosition& tilePosition) const;
 
         template <class Function>
         void forEachTile(Function&& function) const
         {
-            for (auto& [tilePosition, recastMeshManager] : *mTiles.lockConst())
+            const std::lock_guard lock(mMutex);
+            for (auto& [tilePosition, recastMeshManager] : mTiles)
                 function(tilePosition, *recastMeshManager);
         }
 
@@ -102,8 +107,10 @@ namespace DetourNavigator
     private:
         using TilesMap = std::map<TilePosition, std::shared_ptr<CachedRecastMeshManager>>;
 
-        const Settings& mSettings;
-        Misc::ScopeGuarded<TilesMap> mTiles;
+        const RecastSettings& mSettings;
+        mutable std::mutex mMutex;
+        std::string mWorldspace;
+        TilesMap mTiles;
         std::unordered_map<ObjectId, std::vector<TilePosition>> mObjectsTilesPositions;
         std::map<osg::Vec2i, std::vector<TilePosition>> mWaterTilesPositions;
         std::map<osg::Vec2i, std::vector<TilePosition>> mHeightfieldTilesPositions;
@@ -119,7 +126,8 @@ namespace DetourNavigator
         std::optional<RemovedRecastMeshObject> removeTile(const ObjectId id, const TilePosition& tilePosition,
                 TilesMap& tiles);
 
-        inline std::shared_ptr<CachedRecastMeshManager> getManager(const TilePosition& tilePosition) const;
+        inline std::shared_ptr<CachedRecastMeshManager> getManager(std::string_view worldspace,
+                const TilePosition& tilePosition) const;
     };
 }
 

components/esm/defs.hpp

@@ -3,6 +3,8 @@
 
 #include <stdint.h>
 
+#include <tuple>
+
 #include <osg/Vec3f>
 
 namespace ESM
@@ -59,6 +61,12 @@ struct Position
     {
         return osg::Vec3f(rot[0], rot[1], rot[2]);
     }
+
+    friend inline bool operator<(const Position& l, const Position& r)
+    {
+        const auto tuple = [] (const Position& v) { return std::tuple(v.asVec3(), v.asRotationVec3()); };
+        return tuple(l) < tuple(r);
+    }
 };
 #pragma pack(pop)
 

components/misc/convert.hpp

@@ -67,6 +67,11 @@ namespace Convert
     {
         return makeBulletQuaternion(position.rot);
     }
+
+    inline btTransform makeBulletTransform(const ESM::Position& position)
+    {
+        return btTransform(makeBulletQuaternion(position), toBullet(position.asVec3()));
+    }
 }
 }
 

components/process/processinvoker.cpp

@@ -7,7 +7,8 @@
 #include <QDebug>
 #include <QCoreApplication>
 
-Process::ProcessInvoker::ProcessInvoker()
+Process::ProcessInvoker::ProcessInvoker(QObject* parent)
+    : QObject(parent)
 {
     mProcess = new QProcess(this);
 
@@ -56,6 +57,7 @@ bool Process::ProcessInvoker::startProcess(const QString &name, const QStringLis
 //    mProcess = new QProcess(this);
     mName = name;
     mArguments = arguments;
+    mIgnoreErrors = false;
 
     QString path(name);
 #ifdef Q_OS_WIN
@@ -151,6 +153,8 @@ bool Process::ProcessInvoker::startProcess(const QString &name, const QStringLis
 
 void Process::ProcessInvoker::processError(QProcess::ProcessError error)
 {
+    if (mIgnoreErrors)
+        return;
     QMessageBox msgBox;
     msgBox.setWindowTitle(tr("Error running executable"));
     msgBox.setIcon(QMessageBox::Critical);
@@ -166,6 +170,8 @@ void Process::ProcessInvoker::processError(QProcess::ProcessError error)
 void Process::ProcessInvoker::processFinished(int exitCode, QProcess::ExitStatus exitStatus)
 {
     if (exitCode != 0 || exitStatus == QProcess::CrashExit) {
+        if (mIgnoreErrors)
+            return;
         QString error(mProcess->readAllStandardError());
         error.append(tr("\nArguments:\n"));
         error.append(mArguments.join(" "));
@@ -181,3 +187,9 @@ void Process::ProcessInvoker::processFinished(int exitCode, QProcess::ExitStatus
         msgBox.exec();
     }
 }
+
+void Process::ProcessInvoker::killProcess()
+{
+    mIgnoreErrors = true;
+    mProcess->kill();
+}

components/process/processinvoker.hpp

@@ -13,7 +13,7 @@ namespace Process
 
     public:
 
-        ProcessInvoker();
+        ProcessInvoker(QObject* parent = nullptr);
         ~ProcessInvoker();
 
 //        void setProcessName(const QString &name);
@@ -27,12 +27,16 @@ namespace Process
         inline bool startProcess(const QString &name, bool detached = false) { return startProcess(name, QStringList(), detached); }
         bool startProcess(const QString &name, const QStringList &arguments, bool detached = false);
 
+        void killProcess();
+
     private:
         QProcess *mProcess;
 
         QString mName;
         QStringList mArguments;
 
+        bool mIgnoreErrors = false;
+
     private slots:
         void processError(QProcess::ProcessError error);
         void processFinished(int exitCode, QProcess::ExitStatus exitStatus);