From 540ee5399c8fc2d48934088b4d39cb7161545346 Mon Sep 17 00:00:00 2001
From: elsid <elsid.mail@gmail.com>
Date: Fri, 17 Feb 2023 13:57:31 +0100
Subject: [PATCH 1/2] Do expensive navmesh calls on timer

Reducing the number of them on each frame.
---
 apps/openmw/mwmechanics/aipackage.cpp   | 13 +++++++++++--
 apps/openmw/mwmechanics/aiwander.cpp    | 14 +++++++-------
 apps/openmw/mwmechanics/pathfinding.cpp | 11 +++++------
 apps/openmw/mwmechanics/pathfinding.hpp | 21 ++++++++++++---------
 4 files changed, 35 insertions(+), 24 deletions(-)

diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp
index 4cb4ca6d6e..6c1c4c7118 100644
--- a/apps/openmw/mwmechanics/aipackage.cpp
+++ b/apps/openmw/mwmechanics/aipackage.cpp
@@ -189,8 +189,17 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f&
         = getPointTolerance(actor.getClass().getMaxSpeed(actor), duration, world->getHalfExtents(actor));
 
     static const bool smoothMovement = Settings::Manager::getBool("smooth movement", "Game");
-    mPathFinder.update(position, pointTolerance, DEFAULT_TOLERANCE,
-        /*shortenIfAlmostStraight=*/smoothMovement, actorCanMoveByZ, agentBounds, getNavigatorFlags(actor));
+
+    PathFinder::UpdateFlags updateFlags{};
+
+    if (actorCanMoveByZ)
+        updateFlags |= PathFinder::UpdateFlag_CanMoveByZ;
+    if (timerStatus == Misc::TimerStatus::Elapsed && smoothMovement)
+        updateFlags |= PathFinder::UpdateFlag_ShortenIfAlmostStraight;
+    if (timerStatus == Misc::TimerStatus::Elapsed)
+        updateFlags |= PathFinder::UpdateFlag_RemoveLoops;
+
+    mPathFinder.update(position, pointTolerance, DEFAULT_TOLERANCE, updateFlags, agentBounds, getNavigatorFlags(actor));
 
     if (isDestReached || mPathFinder.checkPathCompleted()) // if path is finished
     {
diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp
index 7441bf0c86..54ed2feebe 100644
--- a/apps/openmw/mwmechanics/aiwander.cpp
+++ b/apps/openmw/mwmechanics/aiwander.cpp
@@ -312,6 +312,13 @@ namespace MWMechanics
             completeManualWalking(actor, storage);
         }
 
+        if (storage.mState == AiWanderStorage::Wander_Walking && mUsePathgrid)
+        {
+            const auto agentBounds = MWBase::Environment::get().getWorld()->getPathfindingAgentBounds(actor);
+            mPathFinder.buildPathByNavMeshToNextPoint(
+                actor, agentBounds, getNavigatorFlags(actor), getAreaCosts(actor));
+        }
+
         if (storage.mState == AiWanderStorage::Wander_MoveNow && storage.mCanWanderAlongPathGrid)
         {
             // Construct a new path if there isn't one
@@ -560,13 +567,6 @@ namespace MWMechanics
 
     void AiWander::evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage)
     {
-        if (mUsePathgrid)
-        {
-            const auto agentBounds = MWBase::Environment::get().getWorld()->getPathfindingAgentBounds(actor);
-            mPathFinder.buildPathByNavMeshToNextPoint(
-                actor, agentBounds, getNavigatorFlags(actor), getAreaCosts(actor));
-        }
-
         if (mObstacleCheck.isEvading())
         {
             // first check if we're walking into a door
diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp
index 0180323ddd..5b80d90af6 100644
--- a/apps/openmw/mwmechanics/pathfinding.cpp
+++ b/apps/openmw/mwmechanics/pathfinding.cpp
@@ -313,8 +313,7 @@ namespace MWMechanics
     }
 
     void PathFinder::update(const osg::Vec3f& position, float pointTolerance, float destinationTolerance,
-        bool shortenIfAlmostStraight, bool canMoveByZ, const DetourNavigator::AgentBounds& agentBounds,
-        const DetourNavigator::Flags flags)
+        UpdateFlags updateFlags, const DetourNavigator::AgentBounds& agentBounds, DetourNavigator::Flags pathFlags)
     {
         if (mPath.empty())
             return;
@@ -323,9 +322,9 @@ namespace MWMechanics
             mPath.pop_front();
 
         const IsValidShortcut isValidShortcut{ MWBase::Environment::get().getWorld()->getNavigator(), agentBounds,
-            flags };
+            pathFlags };
 
-        if (shortenIfAlmostStraight)
+        if ((updateFlags & UpdateFlag_ShortenIfAlmostStraight) != 0)
         {
             while (mPath.size() > 2 && isAlmostStraight(mPath[0], mPath[1], mPath[2], pointTolerance)
                 && isValidShortcut(mPath[0], mPath[2]))
@@ -335,7 +334,7 @@ namespace MWMechanics
                 mPath.pop_front();
         }
 
-        if (mPath.size() > 1)
+        if ((updateFlags & UpdateFlag_RemoveLoops) != 0 && mPath.size() > 1)
         {
             std::size_t begin = 0;
             for (std::size_t i = 1; i < mPath.size(); ++i)
@@ -351,7 +350,7 @@ namespace MWMechanics
         if (mPath.size() == 1)
         {
             float distSqr;
-            if (canMoveByZ)
+            if ((updateFlags & UpdateFlag_CanMoveByZ) != 0)
                 distSqr = (mPath.front() - position).length2();
             else
                 distSqr = sqrDistanceIgnoreZ(mPath.front(), position);
diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp
index 330e9fbb0c..c23cf04ade 100644
--- a/apps/openmw/mwmechanics/pathfinding.hpp
+++ b/apps/openmw/mwmechanics/pathfinding.hpp
@@ -82,11 +82,16 @@ namespace MWMechanics
     class PathFinder
     {
     public:
-        PathFinder()
-            : mConstructed(false)
-            , mCell(nullptr)
+        using UpdateFlags = unsigned;
+
+        enum UpdateFlag : UpdateFlags
         {
-        }
+            UpdateFlag_CanMoveByZ = 1 << 0,
+            UpdateFlag_ShortenIfAlmostStraight = 1 << 1,
+            UpdateFlag_RemoveLoops = 1 << 2,
+        };
+
+        PathFinder() = default;
 
         void clearPath()
         {
@@ -121,8 +126,7 @@ namespace MWMechanics
 
         /// Remove front point if exist and within tolerance
         void update(const osg::Vec3f& position, float pointTolerance, float destinationTolerance,
-            bool shortenIfAlmostStraight, bool canMoveByZ, const DetourNavigator::AgentBounds& agentBounds,
-            const DetourNavigator::Flags flags);
+            UpdateFlags updateFlags, const DetourNavigator::AgentBounds& agentBounds, DetourNavigator::Flags pathFlags);
 
         bool checkPathCompleted() const { return mConstructed && mPath.empty(); }
 
@@ -201,10 +205,9 @@ namespace MWMechanics
         }
 
     private:
-        bool mConstructed;
+        bool mConstructed = false;
         std::deque<osg::Vec3f> mPath;
-
-        const MWWorld::CellStore* mCell;
+        const MWWorld::CellStore* mCell = nullptr;
 
         void buildPathByPathgridImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
             const PathgridGraph& pathgridGraph, std::back_insert_iterator<std::deque<osg::Vec3f>> out);

From 28f7a8953006aece96a67cd0cff0545dead3b289 Mon Sep 17 00:00:00 2001
From: elsid <elsid.mail@gmail.com>
Date: Fri, 17 Feb 2023 14:55:05 +0100
Subject: [PATCH 2/2] Reuse dtNavMeshQuery

To avoid redundant allocations.
---
 .../detournavigator/asyncnavmeshupdater.cpp   | 18 ++++++------
 .../findrandompointaroundcircle.cpp           |  9 ++----
 .../findrandompointaroundcircle.hpp           |  6 ++--
 components/detournavigator/findsmoothpath.hpp | 10 ++-----
 components/detournavigator/makenavmesh.cpp    | 12 ++------
 components/detournavigator/makenavmesh.hpp    |  3 +-
 components/detournavigator/navigatorutils.cpp | 15 +++++-----
 components/detournavigator/navigatorutils.hpp |  5 ++--
 .../detournavigator/navmeshcacheitem.cpp      | 28 +++++++++++++++----
 .../detournavigator/navmeshcacheitem.hpp      | 21 ++++++++------
 components/detournavigator/navmeshmanager.cpp |  5 ++--
 components/detournavigator/raycast.cpp        | 10 ++-----
 components/detournavigator/raycast.hpp        |  6 ++--
 components/detournavigator/sharednavmesh.hpp  | 13 ---------
 14 files changed, 73 insertions(+), 88 deletions(-)
 delete mode 100644 components/detournavigator/sharednavmesh.hpp

diff --git a/apps/openmw_test_suite/detournavigator/asyncnavmeshupdater.cpp b/apps/openmw_test_suite/detournavigator/asyncnavmeshupdater.cpp
index 1fa868f133..f51c118a8a 100644
--- a/apps/openmw_test_suite/detournavigator/asyncnavmeshupdater.cpp
+++ b/apps/openmw_test_suite/detournavigator/asyncnavmeshupdater.cpp
@@ -74,7 +74,7 @@ namespace
         mRecastMeshManager.setWorldspace(mWorldspace, nullptr);
         addHeightFieldPlane(mRecastMeshManager);
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const std::map<TilePosition, ChangeType> changedTiles{ { TilePosition{ 0, 0 }, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
         updater.wait(WaitConditionType::allJobsDone, &mListener);
@@ -86,7 +86,7 @@ namespace
         mRecastMeshManager.setWorldspace(mWorldspace, nullptr);
         addHeightFieldPlane(mRecastMeshManager);
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const std::map<TilePosition, ChangeType> changedTiles{ { TilePosition{ 0, 0 }, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
         updater.wait(WaitConditionType::allJobsDone, &mListener);
@@ -109,7 +109,7 @@ namespace
         mRecastMeshManager.setWorldspace(mWorldspace, nullptr);
         addHeightFieldPlane(mRecastMeshManager);
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const std::map<TilePosition, ChangeType> changedTiles{ { TilePosition{ 0, 0 }, ChangeType::update } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
         updater.wait(WaitConditionType::allJobsDone, &mListener);
@@ -135,7 +135,7 @@ namespace
         auto db = std::make_unique<NavMeshDb>(":memory:", std::numeric_limits<std::uint64_t>::max());
         NavMeshDb* const dbPtr = db.get();
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, std::move(db));
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const TilePosition tilePosition{ 0, 0 };
         const std::map<TilePosition, ChangeType> changedTiles{ { tilePosition, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
@@ -162,7 +162,7 @@ namespace
         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 auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const TilePosition tilePosition{ 0, 0 };
         const std::map<TilePosition, ChangeType> changedTiles{ { tilePosition, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
@@ -187,7 +187,7 @@ namespace
         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 auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const TilePosition tilePosition{ 0, 0 };
         const std::map<TilePosition, ChangeType> changedTiles{ { tilePosition, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
@@ -207,7 +207,7 @@ namespace
         mSettings.mMaxNavMeshTilesCacheSize = 0;
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager,
             std::make_unique<NavMeshDb>(":memory:", std::numeric_limits<std::uint64_t>::max()));
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const std::map<TilePosition, ChangeType> changedTiles{ { TilePosition{ 0, 0 }, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
         updater.wait(WaitConditionType::allJobsDone, &mListener);
@@ -236,7 +236,7 @@ namespace
         mRecastMeshManager.setWorldspace(mWorldspace, nullptr);
         addHeightFieldPlane(mRecastMeshManager);
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const std::map<TilePosition, ChangeType> changedTilesAdd{ { TilePosition{ 0, 0 }, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTilesAdd);
         updater.wait(WaitConditionType::allJobsDone, &mListener);
@@ -258,7 +258,7 @@ namespace
         auto db = std::make_unique<NavMeshDb>(":memory:", 4097);
         NavMeshDb* const dbPtr = db.get();
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, std::move(db));
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         std::map<TilePosition, ChangeType> changedTiles;
         for (int x = -5; x <= 5; ++x)
             for (int y = -5; y <= 5; ++y)
diff --git a/components/detournavigator/findrandompointaroundcircle.cpp b/components/detournavigator/findrandompointaroundcircle.cpp
index 731b2b9226..5f856915cb 100644
--- a/components/detournavigator/findrandompointaroundcircle.cpp
+++ b/components/detournavigator/findrandompointaroundcircle.cpp
@@ -1,20 +1,15 @@
 #include "findrandompointaroundcircle.hpp"
 #include "findsmoothpath.hpp"
-#include "settings.hpp"
 
 #include <DetourNavMesh.h>
 #include <DetourNavMeshQuery.h>
 
 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 DetourSettings& settings,
+    std::optional<osg::Vec3f> findRandomPointAroundCircle(const dtNavMeshQuery& navMeshQuery,
+        const osg::Vec3f& halfExtents, const osg::Vec3f& start, const float maxRadius, const Flags includeFlags,
         float (*prng)())
     {
-        dtNavMeshQuery navMeshQuery;
-        if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes))
-            return std::optional<osg::Vec3f>();
-
         dtQueryFilter queryFilter;
         queryFilter.setIncludeFlags(includeFlags);
 
diff --git a/components/detournavigator/findrandompointaroundcircle.hpp b/components/detournavigator/findrandompointaroundcircle.hpp
index 9374396eb0..eca90617cf 100644
--- a/components/detournavigator/findrandompointaroundcircle.hpp
+++ b/components/detournavigator/findrandompointaroundcircle.hpp
@@ -6,14 +6,14 @@
 #include <optional>
 #include <osg/Vec3f>
 
-class dtNavMesh;
+class dtNavMeshQuery;
 
 namespace DetourNavigator
 {
     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 DetourSettings& settings,
+    std::optional<osg::Vec3f> findRandomPointAroundCircle(const dtNavMeshQuery& navMeshQuery,
+        const osg::Vec3f& halfExtents, const osg::Vec3f& start, const float maxRadius, const Flags includeFlags,
         float (*prng)());
 }
 
diff --git a/components/detournavigator/findsmoothpath.hpp b/components/detournavigator/findsmoothpath.hpp
index b96b2a8139..95f84381dd 100644
--- a/components/detournavigator/findsmoothpath.hpp
+++ b/components/detournavigator/findsmoothpath.hpp
@@ -252,14 +252,10 @@ namespace DetourNavigator
     }
 
     template <class OutputIterator>
-    Status findSmoothPath(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents, const float stepSize,
-        const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts,
-        const Settings& settings, float endTolerance, OutputIterator out)
+    Status findSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents,
+        const float stepSize, const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags,
+        const AreaCosts& areaCosts, const Settings& settings, float endTolerance, OutputIterator out)
     {
-        dtNavMeshQuery navMeshQuery;
-        if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mDetour.mMaxNavMeshQueryNodes))
-            return Status::InitNavMeshQueryFailed;
-
         dtQueryFilter queryFilter;
         queryFilter.setIncludeFlags(includeFlags);
         queryFilter.setAreaCost(AreaType_water, areaCosts.mWater);
diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp
index 8616f1a9a6..0837680fc1 100644
--- a/components/detournavigator/makenavmesh.cpp
+++ b/components/detournavigator/makenavmesh.cpp
@@ -13,7 +13,6 @@
 #include "recastparams.hpp"
 #include "settings.hpp"
 #include "settingsutils.hpp"
-#include "sharednavmesh.hpp"
 
 #include "components/debug/debuglog.hpp"
 
@@ -604,7 +603,7 @@ namespace DetourNavigator
         return NavMeshData(navMeshData, navMeshDataSize);
     }
 
-    NavMeshPtr makeEmptyNavMesh(const Settings& settings)
+    void initEmptyNavMesh(const Settings& settings, dtNavMesh& navMesh)
     {
         // Max tiles and max polys affect how the tile IDs are caculated.
         // There are 22 bits available for identifying a tile and a polygon.
@@ -623,17 +622,10 @@ namespace DetourNavigator
         params.maxTiles = 1 << tilesBits;
         params.maxPolys = 1 << polysBits;
 
-        NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh);
-
-        if (navMesh == nullptr)
-            throw NavigatorException("Failed to allocate navmesh");
-
-        const auto status = navMesh->init(&params);
+        const auto status = navMesh.init(&params);
 
         if (!dtStatusSucceed(status))
             throw NavigatorException("Failed to init navmesh");
-
-        return navMesh;
     }
 
     bool isSupportedAgentBounds(const RecastSettings& settings, const AgentBounds& agentBounds)
diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp
index 842ef2ab6a..01542d066d 100644
--- a/components/detournavigator/makenavmesh.hpp
+++ b/components/detournavigator/makenavmesh.hpp
@@ -2,7 +2,6 @@
 #define OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H
 
 #include "recastmesh.hpp"
-#include "sharednavmesh.hpp"
 #include "tileposition.hpp"
 
 #include <memory>
@@ -49,7 +48,7 @@ namespace DetourNavigator
         const std::vector<OffMeshConnection>& offMeshConnections, const AgentBounds& agentBounds,
         const TilePosition& tile, const RecastSettings& settings);
 
-    NavMeshPtr makeEmptyNavMesh(const Settings& settings);
+    void initEmptyNavMesh(const Settings& settings, dtNavMesh& navMesh);
 
     bool isSupportedAgentBounds(const RecastSettings& settings, const AgentBounds& agentBounds);
 }
diff --git a/components/detournavigator/navigatorutils.cpp b/components/detournavigator/navigatorutils.cpp
index a939d0b554..cad201825c 100644
--- a/components/detournavigator/navigatorutils.cpp
+++ b/components/detournavigator/navigatorutils.cpp
@@ -11,11 +11,12 @@ namespace DetourNavigator
         const auto navMesh = navigator.getNavMesh(agentBounds);
         if (!navMesh)
             return std::nullopt;
-        const auto& settings = navigator.getSettings();
-        const auto result = DetourNavigator::findRandomPointAroundCircle(navMesh->lockConst()->getImpl(),
+        const Settings& settings = navigator.getSettings();
+        const auto locked = navMesh->lock();
+        const auto result = DetourNavigator::findRandomPointAroundCircle(locked->getQuery(),
             toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
             toNavMeshCoordinates(settings.mRecast, start), toNavMeshCoordinates(settings.mRecast, maxRadius),
-            includeFlags, settings.mDetour, prng);
+            includeFlags, prng);
         if (!result)
             return std::nullopt;
         return std::optional<osg::Vec3f>(fromNavMeshCoordinates(settings.mRecast, *result));
@@ -27,11 +28,11 @@ namespace DetourNavigator
         const auto navMesh = navigator.getNavMesh(agentBounds);
         if (navMesh == nullptr)
             return std::nullopt;
-        const auto& settings = navigator.getSettings();
-        const auto result = DetourNavigator::raycast(navMesh->lockConst()->getImpl(),
+        const Settings& settings = navigator.getSettings();
+        const auto locked = navMesh->lock();
+        const auto result = DetourNavigator::raycast(locked->getQuery(),
             toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
-            toNavMeshCoordinates(settings.mRecast, start), toNavMeshCoordinates(settings.mRecast, end), includeFlags,
-            settings.mDetour);
+            toNavMeshCoordinates(settings.mRecast, start), toNavMeshCoordinates(settings.mRecast, end), includeFlags);
         if (!result)
             return std::nullopt;
         return fromNavMeshCoordinates(settings.mRecast, *result);
diff --git a/components/detournavigator/navigatorutils.hpp b/components/detournavigator/navigatorutils.hpp
index f7f5a93194..473c2f11c9 100644
--- a/components/detournavigator/navigatorutils.hpp
+++ b/components/detournavigator/navigatorutils.hpp
@@ -35,8 +35,9 @@ namespace DetourNavigator
         const auto navMesh = navigator.getNavMesh(agentBounds);
         if (navMesh == nullptr)
             return Status::NavMeshNotFound;
-        const auto settings = navigator.getSettings();
-        return findSmoothPath(navMesh->lockConst()->getImpl(),
+        const Settings& settings = navigator.getSettings();
+        const auto locked = navMesh->lock();
+        return findSmoothPath(locked->getImpl(), locked->getQuery(),
             toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
             toNavMeshCoordinates(settings.mRecast, stepSize), toNavMeshCoordinates(settings.mRecast, start),
             toNavMeshCoordinates(settings.mRecast, end), includeFlags, areaCosts, settings, endTolerance, out);
diff --git a/components/detournavigator/navmeshcacheitem.cpp b/components/detournavigator/navmeshcacheitem.cpp
index 388ede272e..8338165db6 100644
--- a/components/detournavigator/navmeshcacheitem.cpp
+++ b/components/detournavigator/navmeshcacheitem.cpp
@@ -1,12 +1,16 @@
 #include "navmeshcacheitem.hpp"
+#include "debug.hpp"
+#include "makenavmesh.hpp"
 #include "navmeshdata.hpp"
 #include "navmeshtilescache.hpp"
 #include "navmeshtileview.hpp"
+#include "settings.hpp"
 #include "tileposition.hpp"
 
 #include <DetourNavMesh.h>
 
 #include <ostream>
+#include <sstream>
 
 namespace
 {
@@ -66,18 +70,32 @@ namespace DetourNavigator
         return navMesh.getTileAt(position.x(), position.y(), layer);
     }
 
+    NavMeshCacheItem::NavMeshCacheItem(std::size_t generation, const Settings& settings)
+        : mVersion{ generation, 0 }
+    {
+        initEmptyNavMesh(settings, mImpl);
+
+        if (const dtStatus status = mQuery.init(&mImpl, settings.mDetour.mMaxNavMeshQueryNodes);
+            !dtStatusSucceed(status))
+        {
+            std::ostringstream error;
+            error << "Failed to init navmesh query: " << WriteDtStatus{ status };
+            throw std::runtime_error(error.str());
+        }
+    }
+
     UpdateNavMeshStatus NavMeshCacheItem::updateTile(
         const TilePosition& position, NavMeshTilesCache::Value&& cached, NavMeshData&& navMeshData)
     {
-        const dtMeshTile* currentTile = getTile(*mImpl, position);
+        const dtMeshTile* currentTile = getTile(mImpl, position);
         if (currentTile != nullptr
             && asNavMeshTileConstView(*currentTile) == asNavMeshTileConstView(navMeshData.mValue.get()))
         {
             return UpdateNavMeshStatus::ignored;
         }
-        bool 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);
+        const auto addStatus = addTile(mImpl, navMeshData.mValue.get(), navMeshData.mSize);
         if (dtStatusSucceed(addStatus))
         {
             auto tile = mUsedTiles.find(position);
@@ -111,7 +129,7 @@ namespace DetourNavigator
 
     UpdateNavMeshStatus NavMeshCacheItem::removeTile(const TilePosition& position)
     {
-        bool removed = ::removeTile(*mImpl, position);
+        bool removed = ::removeTile(mImpl, position);
         removed = mEmptyTiles.erase(position) > 0 || removed;
         if (removed)
         {
@@ -123,7 +141,7 @@ namespace DetourNavigator
 
     UpdateNavMeshStatus NavMeshCacheItem::markAsEmpty(const TilePosition& position)
     {
-        bool removed = ::removeTile(*mImpl, position);
+        bool removed = ::removeTile(mImpl, position);
         removed = mEmptyTiles.insert(position).second || removed;
         if (removed)
         {
diff --git a/components/detournavigator/navmeshcacheitem.hpp b/components/detournavigator/navmeshcacheitem.hpp
index ddf63368ba..ec76b56a46 100644
--- a/components/detournavigator/navmeshcacheitem.hpp
+++ b/components/detournavigator/navmeshcacheitem.hpp
@@ -3,10 +3,12 @@
 
 #include "navmeshdata.hpp"
 #include "navmeshtilescache.hpp"
-#include "sharednavmesh.hpp"
 #include "tileposition.hpp"
 #include "version.hpp"
 
+#include <DetourNavMesh.h>
+#include <DetourNavMeshQuery.h>
+
 #include <iosfwd>
 #include <map>
 #include <set>
@@ -15,6 +17,8 @@ struct dtMeshTile;
 
 namespace DetourNavigator
 {
+    struct Settings;
+
     enum class UpdateNavMeshStatus : unsigned
     {
         ignored = 0,
@@ -102,13 +106,11 @@ namespace DetourNavigator
     class NavMeshCacheItem
     {
     public:
-        NavMeshCacheItem(const NavMeshPtr& impl, std::size_t generation)
-            : mImpl(impl)
-            , mVersion{ generation, 0 }
-        {
-        }
+        explicit NavMeshCacheItem(std::size_t generation, const Settings& settings);
 
-        const dtNavMesh& getImpl() const { return *mImpl; }
+        const dtNavMesh& getImpl() const { return mImpl; }
+
+        dtNavMeshQuery& getQuery() { return mQuery; }
 
         const Version& getVersion() const { return mVersion; }
 
@@ -125,7 +127,7 @@ namespace DetourNavigator
         void forEachUsedTile(Function&& function) const
         {
             for (const auto& [position, tile] : mUsedTiles)
-                if (const dtMeshTile* meshTile = getTile(*mImpl, position))
+                if (const dtMeshTile* meshTile = getTile(mImpl, position))
                     function(position, tile.mVersion, *meshTile);
         }
 
@@ -137,8 +139,9 @@ namespace DetourNavigator
             NavMeshData mData;
         };
 
-        NavMeshPtr mImpl;
         Version mVersion;
+        dtNavMesh mImpl;
+        dtNavMeshQuery mQuery;
         std::map<TilePosition, Tile> mUsedTiles;
         std::set<TilePosition> mEmptyTiles;
     };
diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp
index f8d6ce7d79..e237f6c592 100644
--- a/components/detournavigator/navmeshmanager.cpp
+++ b/components/detournavigator/navmeshmanager.cpp
@@ -69,7 +69,7 @@ namespace DetourNavigator
             return;
         mRecastMeshManager.setWorldspace(worldspace, getImpl(guard));
         for (auto& [agent, cache] : mCache)
-            cache = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), ++mGenerationCounter);
+            cache = std::make_shared<GuardedNavMeshCacheItem>(++mGenerationCounter, mSettings);
         mWorldspace = worldspace;
     }
 
@@ -123,8 +123,7 @@ namespace DetourNavigator
         auto cached = mCache.find(agentBounds);
         if (cached != mCache.end())
             return;
-        mCache.insert(std::make_pair(
-            agentBounds, std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), ++mGenerationCounter)));
+        mCache.emplace(agentBounds, std::make_shared<GuardedNavMeshCacheItem>(++mGenerationCounter, mSettings));
         mPlayerTile.reset();
         Log(Debug::Debug) << "cache add for agent=" << agentBounds;
     }
diff --git a/components/detournavigator/raycast.cpp b/components/detournavigator/raycast.cpp
index 665b2433c6..7456912c08 100644
--- a/components/detournavigator/raycast.cpp
+++ b/components/detournavigator/raycast.cpp
@@ -1,6 +1,4 @@
 #include "raycast.hpp"
-#include "findsmoothpath.hpp"
-#include "settings.hpp"
 
 #include <DetourNavMesh.h>
 #include <DetourNavMeshQuery.h>
@@ -9,13 +7,9 @@
 
 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 DetourSettings& settings)
+    std::optional<osg::Vec3f> raycast(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents,
+        const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags)
     {
-        dtNavMeshQuery navMeshQuery;
-        if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes))
-            return {};
-
         dtQueryFilter queryFilter;
         queryFilter.setIncludeFlags(includeFlags);
 
diff --git a/components/detournavigator/raycast.hpp b/components/detournavigator/raycast.hpp
index 9b9125fb71..855c5562fc 100644
--- a/components/detournavigator/raycast.hpp
+++ b/components/detournavigator/raycast.hpp
@@ -6,14 +6,14 @@
 #include <optional>
 #include <osg/Vec3f>
 
-class dtNavMesh;
+class dtNavMeshQuery;
 
 namespace DetourNavigator
 {
     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 DetourSettings& settings);
+    std::optional<osg::Vec3f> raycast(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents,
+        const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags);
 }
 
 #endif
diff --git a/components/detournavigator/sharednavmesh.hpp b/components/detournavigator/sharednavmesh.hpp
deleted file mode 100644
index beb0a3c412..0000000000
--- a/components/detournavigator/sharednavmesh.hpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H
-#define OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H
-
-#include <memory>
-
-class dtNavMesh;
-
-namespace DetourNavigator
-{
-    using NavMeshPtr = std::shared_ptr<dtNavMesh>;
-}
-
-#endif